BIEN TAN DELTA VFD-CP2000.pdf - Google Drive

Delta CP2000 Series User Manual

IABG Headquarters Delta Electronics, Inc. Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan City, Taoyuan County 33068, Taiwan TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia Delta Electronics (Jiangsu) Ltd. Wujiang Plant 3 1688 Jiangxing East Road, Wujiang Economic Development Zone Wujiang City, Jiang Su Province, People's Republic of China (Post code: 215200) TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290 Delta Greentech (China) Co., Ltd. 238 Min-Xia Road, Pudong District, ShangHai, P.R.C. Post code : 201209 TEL: 86-21-58635678 / FAX: 86-21-58630003 Delta Electronics (Japan), Inc. Tokyo Office 2-1-14 Minato-ku Shibadaimon, Tokyo 105-0012, Japan TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211 Delta Electronics (Korea), Inc. 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302 Delta Electronics Int’l (S) Pte Ltd 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd. Plot No 43 Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas Delta Products Corporation (USA) Raleigh Office P.O. Box 12173,5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3800 / FAX: 1-919-767-8080 Delta Greentech (Brasil) S.A Sao Paulo Office Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista 01332-000- ã -SP-Brazil TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865

Delta Intelligent Sensorless Vector Control Drives CP2000 Series User Manual

Europe Deltronics (The Netherlands) B.V. Eindhoven Office De Witbogt 15, 5652 AG Eindhoven, The Netherlands TEL: 31-40-2592850 / FAX: 31-40-2592851

5012604605 2014-11

* We reserve the right to change the information in this catalogue without prior notice.

CPE5

www.delta.com.tw/ia

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY. AC input power must be disconnected before any wiring to the AC motor drive is made. D AN GER

Even if the power has been turned off, a charge may still remain in the DC-link capacitors with hazardous voltages before the POWER LED is OFF. Please do not touch the internal circuit and components. There are highly sensitive MOS components on the printed circuit boards. These components are especially sensitive to static electricity. Please do not touch these components or the circuit boards before taking anti-static measures. Never reassemble internal components or wiring. Ground the AC motor drive using the ground terminal. The grounding method must comply with the laws of the country where the AC motor drive is to be installed. DO NOT install the AC motor drive in a place subjected to high temperature, direct sunlight and inflammables.

CAU TION

Never connect the AC motor drive output terminals U/T1, V/T2 and W/T3 directly to the AC mains circuit power supply.

Only qualified persons are allowed to install, wire and maintain the AC motor drives. Even if the 3-phase AC motor is stop, a charge may still remain in the main circuit terminals of the AC motor drive with hazardous voltages. The performance of electrolytic capacitor will degrade if it is not charged for a long time. It is recommended to charge the driver which is stored in no charge condition every 2 years for 3~4 hours. Please use adjustable AC power source (ex: AC autotransformer) to charge the driver gradually to rated voltage, and should not charge it directly with rated voltage. Pay attention to the following when transporting and installing this package (including wooden crate, wood stave and carton box) 1.

If you need to sterilize, deworm the wooden crate or carton box, please do not use steamed smoking sterilization or you will damage the VFD.

2.

Please use other ways to sterilize or deworm.

3.

You may use high temperature to sterilize or deworm. Leave the packaging

℃ for 30 minutes.

materials in an environment of over 56

It is strictly forbidden to use steamed smoking sterilization.

The warranty does not

covered VFD damaged by steamed smoking sterilization. NOTE

The content of this manual may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation

Table of Contents Chapter 1 Introduction .................................................................................................................. 1-1 Chapter 2 Installation .................................................................................................................. 2-1 Chapter 3 Unpacking.................................................................................................................... 3-1 Chapter 4 Wiring .......................................................................................................................... 4-1 Chapter 5 Main Circuit Terminals ................................................................................................ 5-1 Chapter 6 Control Terminals ......................................................................................................... 6-1 Chapter 7 Optional Accessories ................................................................................................ 7-1 Chapter 8 Option Cards ............................................................................................................... 8-1 Chapter 9 Specifications............................................................................................................... 9-1 Chapter 10 Digital Keypad.......................................................................................................... 10-1 Chapter 11 Summary of Parameters .......................................................................................... 11-1 Chapter 12 Descriptions of Parameter Setting ........................................................................... 12-1 Chapter 13 Warning Codes ........................................................................................................ 13-1 Chapter 14 Fault Codes and Descriptions .................................................................................. 14-1 Chapter 15 CANopen Overview ................................................................................................. 15-1 Chapter 16 PLC Function Applications ....................................................................................... 16-1 Chapter 17 BACnet Main Circuit Terminals ................................................................................ 17-1 Chapter 18 Suggestions and Error Corrections for Standard AC Motor Drives ........................... 18-1 Chapter 19 EMC Standard Installation Guide ............................................................................. 19-1 Chapter 20 Safety Torque Off Function ...................................................................................... 20-1 Appendix A. Publication History....................................................................................................A-1

Application

Control Board: V1.21 Keypad: V1.10

Chapter1 Introduction

Chapter 1 Introduction Receiving and Inspection After receiving the AC motor drive, please check for the following: 1.

Please inspect the unit after unpacking to assure it was not damaged during shipment.

2.

Make sure that the part number printed on the package corresponds with the part number indicated on the nameplate.

3.

Make sure that the voltage for the wiring lie within the range as indicated on the nameplate.

4.

When wiring the AC motor drive, please make sure that the wiring of input terminals “R/L1, S/L2, T/L3” and output terminals”U/T1, V/T2, W/T3” are correct to prevent drive damage.

5.

When power is applied, select the language and set the parameter groups via the digital keypad (KPC-CC01).

Nameplate Information:

1-1


Model Name:

Serial Number:

1-2


RFI Jumper RFI Jumper: The AC motor drive may emit the electrical noise. The RFI jumper is used to suppress the interference (Radio Frequency Interference) on the power line.

Frame A~C Screw Torque: 8~10kg-cm(6.9-8.7 lb -in.) Loosen the screws and remove the MOV-PLATE. Fasten the screws back to the original position after MOV-PLATE is removed.

1-3


Frame D0~H Remove the MOV-PLATE by hands, no screws need to be loosen

Isolating main power from ground: When the power distribution system of the Power Regenerative Unit is a floating ground system (IT) or an asymmetric ground system (TN), the RFI short short-circuit cable must be cut off. Cutting off the short-circuit cable cuts off the internal RFI capacitor (filter capacitor) between the system's frame and the central circuits to avoid damaging the central circuits and (according to IEC 61800-3) reduce the ground leakage current. Important points regarding ground connection To ensure the safety of personnel, proper operation, and to reduce electromagnetic radiation, the Power Regenerative Unit must be properly grounded during installation. The diameter of the cables must meet the size specified by safety regulations. The shielded cable must be connected to the ground of the Power Regenerative Unit to meet safety regulations. The shielded cable can only be used as the ground for equipment when the aforementioned points are met. When installing multiple sets of Power Regenerative Units, do not connect the grounds of the Power Regenerative Units in series. As shown below Ground terminal

Best wiring setup for ground wires

1-4


Pay particular attention to the following points: After turning on the main power, do not cut the RFI short-circuit cable while the power is on. Make sure the main power is turned off before cutting the RFI short-circuit cable. Cutting the RFI short-circuit cable will also cut off the conductivity of the capacitor. Gap discharge may occur once the transient voltage exceeds 1000V. If the RFI short-circuit cable is cut, there will no longer be reliable electrical isolation. In other words, all controlled input and outputs can only be seen as low-voltage terminals with basic electrical isolation. Also, when the internal RFI capacitor is cut off, the Power Regenerative Unit will no longer be electromagnetic compatible. The RFI short-circuit cable may not be cut off if the main power is a grounded power system. The RFI short-circuit cable may not be cut off while conducting high voltage tests. When conducting a high voltage test to the entire facility, the main power and the motor must be disconnected if leakage current is too high. Floating Ground System(IT Systems) A floating ground system is also called IT system, ungrounded system, or high impedance/resistance (greater than 30Ω) grounding system.

Disconnect the ground cable from the internal EMC filter.

In situations where EMC is required, check whether there is excess electromagnetic radiation affecting nearby low-voltage circuits. In some situations, the adapter and cable naturally provide enough suppression. If in doubt, install an extra electrostatic shielded cable on the power supply side between the main circuit and the control terminals to increase security.

Do not install an external RFI/EMC filter, the EMC filter will pass through a filter capacitor, thus connecting power input to ground. This is very dangerous and can easily damage the Power Regenerative Unit.

Asymmetric Ground System(Corner Grounded TN Systems) Caution: Do not cut the RFI short-circuit cable while the input terminal of the Power Regenerative Unit carries power. In the following four situations, the RFI short-circuit cable must be cut off. This is to prevent the system from grounding through the RFI capacitor, damaging the Power Regenerative Unit. RFI short-circuit cable must be cut off 1 Grounding at a corner in a triangle configuration

L1

2 Grounding at a midpoint in a polygonal configuration

L1

L2 L2

L3

L3

1-5


3 Grounding at one end in a single-phase

4 No stable neutral grounding in a three-phase

configuration

autotransformer configuration

L1

L1

L1 L2 L2 L3

N

L3

RFI short-circuit can be used Internal grounding through RFI capacitor, which reduces

L1

electromagnetic radiation. In a situation with higher requirements for electromagnetic compatibility, and using a symmetrical grounding power system, an EMC filter can be installed. As a reference, the diagram on the right is a symmetrical grounding power system.

L2 L3

1-6


Dimensions: Frame A VFD007CP23A-21, VFD015CP23A-21, VFD022CP23A-21, VFD037CP23A-21, VFD055CP23A-21, VFD007CP43A-21, VFD015CP43B-21, VFD022CP43B-21, VFD037CP43B-21, VFD040CP43A-21, VFD055CP43B-21, VFD075CP43B-21, VFD007CP4EA-21, VFD015CP4EB-21,VFD022CP4EB-21, VFD037CP4EB-21, VFD040CP4EA-21, VFD055CP4EB-21, VFD075CP4EB-21

Frame A1

W 130.0 [5.12]

H 250.0 [9.84]

D 170.0 [6.69]

W1 116.0 [4.57]

H1 236.0 [9.29]

1-7

D1* 45.8 [1.80]

S1 6.2 [0.24]

Φ1 22.2 [0.87]

Unit: mm [inch] Φ2 Φ3 34.0 28.0 [1.34] [1.10]

Chapter1 Introduction D1*: Flange mounting

Frame B VFD075CP23A-21,VFD110CP23A-21,VFD150CP23A-21,VFD110CP43AB-21, VFD150CP43B-21,VFD185CP43B-21,VFD110CP4EB-21,VFD150CP4EB-21, VFD185CP4EB-21

See Detail A

See Detail B

Detail A (Mounting Hole)

Detail B (Mounting Hole) Frame B

W 190.0 [7.48]

H 320.0 [12.60]

D 190.0 [7.48]

W1 173.0 [6.81]

H1 303.0 [11.93]

D1* 77.9 [3.07]

S1 8.5 [0.33]

Φ1 22.2 [0.87]

Unit: mm [inch] Φ2 Φ3 34.0 43.8 [1.34] [1.72] D1*: Flange mounting

1-8


Frame C VFD185CP23A-21,VFD220CP23A-21,VFD300CP23A-21,VFD220CP43A-21, VFD300CP43B-21,VFD370CP43B-21,VFD220CP4EA-21,VFD300CP4EB-21, VFD370CP4EB-21

See Detail A

See Detail B

Detail A (Mounting Hole)

Detail B (Mounting Hole) Unit: mm [inch] Frame C

W

H

D

W1

H1

D1*

S1

Φ1

Φ2

Φ3

250.0

400.0

210.0

231.0

381.0

92.9

8.5

22.2

34.0

50.0

[9.84]

[15.75]

[8.27]

[9.09]

[15.00]

[3.66]

[0.33]

[0.87]

[1.34]

[1.97]

D1*: Flange mounting

1-9


Frame D D0-1: VFD450CP43S-00; VFD550CP43S-00 D W W1

D1 D2

H3

H1

H2

SEE DETAIL A

S2 SEE DETAIL B

S1

S1

DETAIL A (MOUNTING HOLE)

DETAIL B (MOUNTING HOLE) Unit: mm [inch]

Frame D0-1

W

H1

D

W1

H2

H3

D1*

D2

S1

S2

280.0

500.0

255.0

235.0

475.0

442.0

94.2

16.0

11.0

18.0

[11.02]

[19.69]

[10.04]

[9.25]

[18.70]

[17.40]

[3.71]

[0.63]

[0.43]

[0.71]


1-10


Frame D D0-2 VFD450CP43S-21; VFD550CP43S-21 D W W1

D1 D2

H

H3

H1

H2

SEE DETAIL A

S2 SEE DETAIL B

3

3

2

2

1

1

S1

S1

DETAIL A (MOUNTING HOLE)

DETAIL B (MOUNTING HOLE) Unit: mm [inch]

Frame D0-2

W

H

D

W1

H1

H2

H3

280.0 614.4 255.0 235.0 500.0 475.0 442.0

D1*

D2

S1

S2

Φ1

Φ2

Φ3

94.2

16.0

11.0

18.0

62.7

34.0

22.0

[11.02] [24.19] [10.04] [9.25] [19.69] [18.70] [17.40] [3.71] [0.63] [0.43] [0.71] [2.47] [1.34] [0.87] D1*: Flange mounting

1-11


Frame D Frame D1: VFD370CP23A-00, VFD450CP23A-00, VFD750CP43B-00, VFD900CP43A-00 FRAME_D1 D W W1

D1 D2

H3

H1

H2

SEE DETAIL A

S2 SEE DETAIL B

S1

S1

DETAIL A DETAIL B (MOUNTING HOLE) (MOUNTING HOLE)

Unit: mm[inch] Frame D1

W 330.0 [12.99]

H -

D

W1

H1

H2

H3

D1*

275.0 285.0 550.0 525.0 492.0 107.2

D2

S1

S2

16.0

11.0

18.0

[10.83] [11.22] [21.65] [20.67] [19.37] [4.22] [0.63] [0.43] [0.71]

Φ1

Φ2

Φ3

-

-

-


1-12


Frame D D2: VFD370CP23A-21, VFD450CP23A-21, VFD750CP43B-21, VFD900CP43A-21 FRAM E_D2 D W W1

D1 D2

H

H3

H1

H2

SEE DETAIL A

S2 SEE DETAIL B

1

1

3

3

2

2

S1

S1

DETAIL A (MOUNTING H OLE)

框号 D2

DETAIL B (MOUNTING H OLE)

Unit: mm[inch] W

H

D

W1

H1

H2

H3

D1*

330.0 688.3 275.0 285.0 550.0 525.0 492.0 107.2

D2

S1

S2

Φ1

Φ2

Φ3

16.0

11.0

18.0

76.2

34.0

22.0

[12.99] [27.10] [10.83] [11.22] [21.65] [20.67] [19.37] [4.22] [0.63] [0.43] [0.71] [3.00] [1.34]

[0.87]


1-13


Frame E Frame E1: VFD550CP23A-00, VFD750CP23A-00,VFD900CP23A-00,VFD1100CP43A-00, VFD1320CP43B-00

FRAME_E1 W

D

W1

H3

H1

H2

D1

Unit: mm [inch] Frame E1

W 370.0 [14.57]

H -

D

W1

300.0 335.0

H1 589

H2

H3

D1*

560.0 528.0 143.0

D2

S1, S2

S3

18.0

13.0

18.0

[11.81] [13.19 [23.19] [22.05] [20.80] [5.63] [0.71] [0.51] [0.71]

Φ1

Φ2

Φ3

-

-

-


1-14


Frame E E2: VFD550CP23A-21,VFD750CP23A-21,VFD900CP23A-21, VFD1100CP43A-21, VFD1320CP43B-21 FRAME_E2 W

D

W1

H3

H1

H

H2

D1

?

?

?

?

?

?

?

?

Unit: mm [inch] Frame E2

W

H

D

W1

370.0 715.8 300.0 335.0

H1 589

H2

H3

D1*

560.0 528.0 143.0

D2

S1, S2

S3

Φ1

Φ2

Φ3

18.0

13.0

18.0

22.0

34.0

92.0

[14.57] [28.18] [11.81] [13.19 [23.19] [22.05] [20.80] [5.63] [0.71] [0.51] [0.71] [0.87] [1.34] [3.62] D1*: Flange mounting

1-15


Frame F Frame F1: VFD1600CP43A-00,VFD1850CP43B-00

FRAME_F1 W W1

D D1

H3

H2 H1

See Detail A

S3

See Detail B

D2

S1

S2 Detail A (Mounting Hole)

S1

Detail B (Mounting Hole)

Unit: mm [inch] Frame F1

W 420.0 [16.54]

H -

D

W1

H1

H2

H3

D1*

D2

S1

S2

S3

300.0

380.0

800.0

770.0

717.0

124.0

18.0

13.0

25.0

18.0

[11.81] [14.96] [31.50] [30.32] [28.23]

[4.88]

[0.71]

[0.51]

[0.98]

[0.71]

Frame

Φ1

Φ2

Φ3

F1

-

-


1-16


Frame F Frame F2: VFD1600CP43A-21,VFD1850CP43B-21

FRAME_F2 W W1

D D1

H3

H

H2 H1

See Detail A

S3

See Detail B

D2

1 3 3 2

2

1

2

2

S1

S2 De ta il A ( Mo u n ti n g Ho l e )

S1

De ta il B ( Mo u n ti n g Ho le )

Unit: mm [inch] Frame F1 F2

W

H

D

W1

H1

H2

H3

420.0 300.0 380.0 800.0 770.0 717.0 [16.54] [11.81] [14.96] [31.50] [30.32] [28.23] 420.0 940.0 300.0 380.0 800.0 770.0 717.0 [16.54] [37.00] [11.81] [14.96] [31.50] [30.32] [28.23]

Frame

Φ1

Φ2

Φ3

F1

-

-

-

F2

92.0 [3.62]

35.0 [1.38]

22.0 [0.87]

D1*

D2

S1

S2

S3

124.0 [4.88] 124.0 [4.88]

18.0 [0.71] 18.0 [0.71]

13.0 [0.51] 13.0 [0.51]

25.0 [0.98] 25.0 [0.98]

18.0 [0.71] 18.0 [0.71]


1-17


Frame G Frame G1: VFD2200CP43A-00,VFD2800CP43A-00

FRAME_G1 W

D

H3

H1

H2

W1

S3

Unit: mm [inch] Frame

W

H

G1

500.0 [19.69]

-

D

W1

H1

H2

H3

S1

397.0 440.0 1000.0 963.0 913.6 13.0 [15.63] [217.32] [39.37] [37.91] [35.97] [0.51]

1-18

S2

S3

Φ1

Φ2

Φ3

26.5 [1.04]

27.0 [1.06]

-

-

-


Frame G Frame G2: VFD2200CP43A-21,VFD2800CP43A-21

FRAME_G2 W

D

H3

H1

H

H2

W1

S3

Unit: mm [inch] Frame G2

W

H

D

W1

H1

H2

H3

S1

500.0 1240.2 397.0 440.0 1000.0 963.0 913.6 13.0 [19.69] [48.83] [15.63] [217.32] [39.37] [37.91] [35.97] [0.51]

1-19

S2

S3

Φ1

Φ2

Φ3

26.5 [1.04]

27.0 [1.06]

22.0 [0.87]

34.0 [1.34]

117.5 [4.63]


Frame H Frame H1: VFD3150CP43A-00,VFD3550CP43A-00, VFD4000CP43A-00

FRAME_H1

Frame H1 Frame H1

W

H

D

700.0 1435.0 398.0

W1

W2

630.0

290.0

[27.56] [56.5] [15.67] [24.8] [11.42] H5 -

D1 45.0 [1.77]

D2 -

D3 -

D4 -

W3

W4

W5

W6

-

-

-

-

D5

D6

-

-

1-20

H1

H2

1403.0 1346.6

-

-

Φ1

Φ2

Φ3

-

-

-

[55.24] [53.02]

S1

S2

S3

13.0

26.5

25.0

[0.51]

[1.04]

[0.98]

Unit: mm [inch] H3 H4


Frame H Frame H2: VFD3150CP43C-00, VFD3550CP43C-00, VFD4000CP43C-00

FRAME_H2

Frame H2 Frame H2

W

H

D

700.0 1745.0 404.0

W1

W2

W3

W4

W5

630.0

500.0

630.0

760.0

800.0

[27.56] [68.70] [15.90] [24.8] [19.69]- [24.80] [29.92] [31.5] H5 -

W6 -

H1

1729.0 1701.6

D1

D2

D3

D4

D5

D6

S1

S2

S3

38.0

65.0

204.0

68.0

137.0

13.0

26.5

25.0

[2.00]

[1.50]

[2.56]

[8.03]

[2.68]

[5.40]

[0.51]

[1.04]

[0.98]

Unit: mm [inch] H3 H4 -

-

Φ1

Φ2

Φ3

-

-

-

[68.07] [66.99]

51.0

1-21

H2


Frame H Frame H3: VFD3150CP43C-21, VFD3550CP43C-21, VFD4000CP43C-21 FRAME_H3

Unit Frame

W H D W1 W2 W3 W4 W5 700.0 1745.0 404.0 630.0 500.0 630.0 760.0 800.0 H3 [27.56] [68.70] [15.91] [24.80] [19.69] [24.80] [29.92] [31.5]

Frame H3

H5

W6 -

H1 H2 1729.0 1701.6 [68.07] [66.99]

：mm [inch]

H3

H4

-

-

D1 D2 D3 D4 D5 D6 S1 S2 S3 Φ1 Φ2 Φ3 51.0 38.0 65.0 204.0 68.0 137.0 13.0 26.5 25.0 22.0 34.0 117.5 [2.00] [1.50] [2.56] [8.03] [2.68] [5.40] [0.51] [1.04] [0.98] [0.87] [1.34] [4.63]

1-22


Digital Keypad KPC-CC01

1-23

Chapter 2 Installation

Chapter 2 Installation The appearances shown in the following figures are for reference only. Airflow direction: Single drive: installation (Frame A-H)

(Blue arrow) inflow

(Red arrow) outflow

Side-by-side horizontal installation (Frame A~C)

（

）

Multiple drives, single side-by-side horizontal installation Frame A~C, G, H

Multiple drives: side-by-side installation (Frame D0, D, E, F) Install a barrier between the drives is required.

2-1


Multiple drives side-by-side installation in rows (Frame A~H ) Ta: Frame A~G

Ta*: Frame H

For installation in rows, it is recommended installing a barrier between the drives. Adjust the size/depth of the barrier till the temperature measured at the fan’s inflow side is lower than the operation temperature. Operation temperature is the defined as the temperature measured 50mm away from the fan’s inflow side. (As shown in the figure below)

Minimum mounting clearance Frame A (mm) A~C 60 D0, D, E, F 100 G 200 H 350

B (mm) 30 50 100 0

C (mm) 10 0

D (mm) 0 0 0 200 (100, Ta=Ta*=40 )

℃

Frame A VFD007CP23A-21; VFD007CP43A/4EA-21; VFD015CP23A-21; VFD015CP43B/4EB-21; VFD022CP23A-21;VFD022CP43B/4EB-21; VFD037CP23A-21; VFD037CP43B/4EB-21; VFD040CP43A/4EA-21; VFD055CP23A-21; VFD055CP43B/4EB-21; VFD075CP43B/4EB-21 Frame B VFD075CP23A-21; VFD110CP23A-21; VFD110CP43B/4EB -21; VFD150CP23A-21; VFD150CP43B/4EB -21; VFD185CP43B/4EB -21 Frame C VFD185CP23A-21; VFD220CP23A-21; VFD220CP43A/4EA -21; VFD300CP23A-21; VFD300CP43B/4EB -21; VFD370CP43B/4EB -21 FrameD0 VFD450CP43S-00; VFD550CP43S-00; VFD450CP43S-21; VFD550CP43S-21 FrameD VFD370CP23A-00/23A-21; VFD450CP23A-00/23A-21; VFD750CP43B-00/43B-21; VFD900CP43A-00/43A-21 Frame E VFD550CP23A-00/23A-21; VFD750CP23A-00/23A-21; VFD900CP23A-00/23A-21; VFD1100CP43A-00/43A-21; VFD1320CP43B-00/43B-21 Frame F VFD1600CP43A-00/43A-21; VFD1850CP43B-00/43B-21 Frame G VFD2200CP43A-00/43A-21; VFD2800CP43A-00/43A-21 Frame H VFD3150CP43A-00/43C-00/43C-21; VFD3550CP43A-00/43C-00/43C-21; VFD4000CP43A-00/43C-00/43C-21 NOTE

1.

It is the minimum distance required for frame A~D. If drives are installed closer than the minimum mounting clearance, the fan may not function properly.

2-2


※

NOT E The mounting clearances shown in the left figure are NOT for installing the drive in a confined space (such as cabinet or electric box). When installing in a confined space, besides the same minimum mounting clearances, it needs to have the ventilation equipment or air conditioner to keep the surrounding temperature lower than the operation temperature.

※

The following table shows heat dissipation and the required air volume when installing a single drive in a confined space. When installing multiple drives, the required air volume shall be multiplied by the number the drives.

※

Refer to the chart (Air flow rate for cooling) for ventilation equipment

design and selection.

※

Refer to the chart (Power dissipation) for air conditioner design and

※

selection. Different control mode will affect the derating. See Pr06-55 for more information.

※

Ambient temperature derating curve shows the derating status in different temperature in relation to different protection level

※

If UL Type 1 models need side by side installation, please remove top cover of FrameA~C, and please do not install conduit box of Frame D and above.

Air flow rate for cooling Flow Rate (cfm) Model No. VFD007CP23A-21 VFD015CP23A-21 VFD022CP23A-21 VFD037CP23A-21 VFD055CP23A-21 VFD075CP23A-21 VFD110CP23A-21 VFD150CP23A-21 VFD185CP23A-21 VFD220CP23A-21 VFD300CP23A-21 VFD370CP23A-00/23A-21 VFD450CP23A-00/23A-21 VFD550CP23A-00/23A-21 VFD750CP23A-00/23A-21 VFD900CP23A-00/23A-21 VFD007CP43A/4EA-21 VFD015CP43B/4EB-21 VFD022CP43B/4EB-21 VFD037CP43B/4EB-21 VFD040CP43A/4EA-21 VFD055CP43B/4EB-21 VFD075CP43B/4EB-21

Power Dissipation Power Dissipation (watt) Flow Rate (m /hr) Loss External External Internal Total External Internal Total Internal Total (Heat Sink) 14 14 10 40 66 58 166 166 146 179 179 228 228 246 14 10 10 10

14 14 14 12 12 12 30 30 73 73 73 -

14 14 10 54 80 73 178 178 158 209 209 301 301 319 14 10 10 10

3

24 24 17 68 112 99 282 282 248 304 304 387 387 418 24 17 17 17

2-3

24 24 24 20 20 20 51 51 124 124 124 -

24 24 17 92 136 124 302 302 268 355 355 511 511 542 24 17 17 17

40 61 81 127 158 291 403 570 622 777 878 1271 1550 1762 2020 2442 35 48 64 103 124 142 205

31 39 45 57 93 101 162 157 218 197 222 311 335 489 574 584 32 39 52 77 81 116 129

71 100 126 184 251 392 565 727 840 974 1100 1582 1885 2251 2594 3026 67 87 116 180 205 258 334


Air flow rate for cooling VFD110CP43B/4EB-21 VFD150CP43B/4EB-21 VFD185CP43B/4EB-21 VFD220CP43A/4EA-21 VFD300CP43B/4EB-21 VFD370CP43B/4EB-21 VFD450CP43S-00/43S-21 VFD450CP43A-00/43A-21 VFD550CP43S-00/43S-21 VFD550CP43A-00/43A-21 VFD750CP43B-00/43B-21 VFD900CP43A-00/43A-21 VFD1100CP43A-00/43A-21 VFD1320CP43B-00/43B-21 VFD1600CP43A-00/43A-21 VFD1850CP43B-00/43B-21 VFD2200CP43A-00/43A-21 VFD2800CP43A-00/43A-21 VFD3150CP43A-00/ VFD3150CP 43C-00/43C-21 VFD3550CP43A-00/ VFD3550CP 43C-00/43C-21 VFD4000CP43A-00/ VFD4000CP 43C-00/43C-21

※ ※

40 66 58 99 99 126 179 179 179 179 179 186 257 223 224 289

14 14 14 21 21 21 30 30 30 30 30 30 73 73 112 112

54 80 73 120 120 147 209 209 209 209 209 216 330 296 336 401 454 454 769

Power Dissipation 68 112 99 168 168 214 304 304 304 304 304 316 437 379 381 491

24 24 24 36 36 36 51 51 51 51 51 51 124 124 190 190

92 136 124 204 204 250 355 355 355 355 355 367 561 503 571 681 771 771 1307

291 376 396 455 586 778 1056 1056 1163 1163 1407 1787 2112 2597 3269 3814

175 190 210 358 410 422 459 459 669 669 712 955 1084 1220 1235 1570

466 566 606 813 996 1200 1515 1515 1832 1832 2119 2742 3196 3817 4504 5384 6358 7325 8513

769

1307

9440

769

1307

10642

The required airflow shown in chart is for installing single drive in a confined space. When installing the multiple drives, the required air volume should be the required air volume for single drive X the number of the drives.

※ ※

※

2-4

The heat dissipation shown in the chart is for installing single drive in a confined space. When installing the multiple drives, volume of heat dissipation should be the heat dissipated for single drive X the number of the drives. Heat dissipation for each model is calculated by rated voltage, current and default carrier.

Chapter 3 Unpacking

Chapter 3 Unpacking The AC motor drive should be kept in the shipping carton or crate before installation. In order to retain the warranty coverage, the AC motor drive should be stored properly when it is not to be used for an extended period of time. The AC motor drive is packed in the crate. Follows the following step for unpack: Frame D Crate 01 (VFDXXXCPXXX-00)

Loosen the 12 cover screws to open the crate.

Remove the EPEs and manual.

Crate 02 (VFDXXXCPXXX-21) Loosen all of the screws on the 4 iron plates at the four bottom corners of the crate. 4 screws on each of the iron plate (total 16 screws)

Remove the crate cover, EPEs, rubber and manual.

3-1

Chapter 3 Unpacking

Loosen the 8 screws that fastened on the pallet, remove the wooden plate.

3-2

Chapter 3 Unpacking

Lift the drive by hooking the lifting hole. It is now ready for installation.

Loosen the 10 screws on the pallet, remove the wooden plate.


Frame E Crate 01 (VFDXXXXCPXXX-00) Crate 02 (VFDXXXXCPXXX-21) Loosen the 4 screws on the iron plates. There are Loosen the 4 screws on the iron plates. There are 4 iron plates and in total of 16 screws. 4 iron plates and in total of 16 screws.

3-3

Chapter 3 Unpacking

Remove the crate cover, EPEs and manual.

Remove the crate cover, EPEs, rubbers and manual.

Loosen the 8 screws on the pallet as shown in the following figure.

Loosen the 10 screws on the pallet and remove the wooden plate.



3-4

Chapter 3 Unpacking

Frame F Crate 01 (VFDXXXXCPXXX-00) Remove the 6 clips on the side of the crate with a flat-head screwdriver. (As shown in figure below.) 6 5 4

Crate 02 (VFDXXXXCPXXX-21) Remove the 6 clips on the side of the crate with a flat-head screwdriver. (As shown in figure below.)

6 5 4 1

1

2

2 3 Remove the crate cover, EPEs and manual.

Loosen the 5 screws on the pallet as shown in the following figure.

5

3 Remove the crate cover, EPEs, rubbers and manual.

Loosen the 9 screws on the pallet and remove the wooden plate.

9

4 3

2

wood plate2 wood plate1

1

3-5

8

7

6

5

4

3

2

1

Chapter 3 Unpacking



Frame G Crate 01 (VFDXXXXCPXXA-00) Crate 02 (VFDXXXXCPXXA-21) Remove the 6 clips on the side of the crate with a Remove the 6 clips on the side of the crate with a flathead screwdriver. (As shown in figure below.) flathead screwdriver. (As shown in figure below.) 4

4 5

5 6

6

1

1 2

2 3


3

Remove the crate cover, EPEs, rubber and manual

3-6

Chapter 3 Unpacking

Loosen the 5 screws as shown in following figure: Loosen the 12 screws and remove the wooden plate. 3

4 5

1 12

2 wood plate5 wood plate4


98 10

7

11 5 4 6

3

wood plate1 wood plate2 wood plate3

1

2


Frame H Crate 01 (VFDXXXXCPXXA-00) Crate 02 (VFDXXXXCPXXC-00) Remove the 8 clips on the side of the crate with a Remove the 8 clips on the side of the crate with a flathead screwdriver. (As shown in figure below.) flathead screwdriver. (As shown in figure below.)

3-7

Chapter 3 Unpacking


Remove the crate cover, EPEs, rubbers and manual.

Loosen the 6 screws on the top then remove 6 Loosen the 6 screws on the top then remove 6 metal metal washers and 6 plastic washers as shown in washers and 6 plastic washers as shown in figure below. figure below.


Loosen 6 of the M6 screws on the side and remove the 2 plates, as shown in below. The removed screws and plates can be used to secure the AC motor drive from the external.

3-8

Chapter 3 Unpacking

Secure the drive from the external. (Skip to the next step if it is not necessary in your case.) Loosen 8 of M8 screws on the both sides and place the 2 plates that were removed from the last step. Fix the plates to AC motor drive by fasten 8 of the M8 screws. (As shown in below) Torque: 150~180kg-cm (130.20~156.24lb-in.)


3-9

Chapter 3 Unpacking

Frame H Crate 03 (VFDXXXXCPXXC-21) Use flathead screwdriver to remove the clips on the side of the crate, 8 clips in total.

Remove the crate cover, EPEs, rubber and manual.

Loosen the 6 screws on the cover, remove 6 metal washers and 6 plastic washers as shown in below:

3-10

Chapter 3 Unpacking

Loosen 6 of the M6 screws on the side and removes the 2 plates, as shown in following figure. The removed screws and plates can be used to secure AC motor drive from the external.

Secure the drive from the internal. Loosen 18 of the M6 screws and remove the top cover as shown in figure 2. Mount the cover (figure 1) back to the drive by fasten the M6 screws to the two sides of the drive, as shown in figure 2. Torque: 35~45kg-cm (30.38~39.06lb-in.)

Secure the drive from the external. Loosen 8 of the M8 screws on the both sides and place the 2 plates that were removed from the last step. Fix the plates to rive by fasten 8 of the M8 screws. (As shown in figure below).

Torque: 150~180kg-cm (130.20~156.24lb-in.)

Figure 1 Top cover (Use M12 screws)

Figure 2

3-11

Chapter 3 Unpacking

Fasten 6 of the M6 screws that were removed from last step back to the AC motor drive. As shown in figure below:


Frame H: Secure the drive (VFDXXXXCPXXA-00) Screw: M12*6; Torque: 340-420kg-cm [295.1-364.6lb-in.]

3-12

Chapter 3 Unpacking

VFDXXXXCPXXC-00

Secure the drive from internal. Screw: M12*8 Torque: 340-420kg-cm [295.1-364.6lb-in.]

VFDXXXXCPXXC-21

Secure the drive from the external. Screw: M12*8 Torque: 340-420kg-cm [295.1-364.6lb-in.]

3-13

Chapter 3 Unpacking

The Lifting Hook The arrows indicate the lifting holes, as in figure below: (Frame D0~H).

D0

E

D

Figure 1

Figure 2

Figure 3

G

F

Figure 4

Figure 5

3-14

Figure 6

Chapter 3 Unpacking

Ensure the lifting hook properly goes through the lifting hole, as shown in the following diagram. (Applicable for Frame D0~G)

Ensure the angle between the lifting holes and the lifting device is within the specification, as shown in the following diagram. (Applicable for Frame D0~G)

(Applicable to Frame H)

(Applicable from Frame F~H)

3-15

Chapter 4 Wiring

Chapter 4 Wiring

After removing the front cover, examine if the power and control terminals are clearly noted. Please read following precautions before wiring. Make sure that power is only applied to the R/L1, S/L2, T/L3 terminals. Failure to comply may result in damage to the equipments. The voltage and current should lie within the range as indicated on the nameplate (Chapter 1-1). All the units must be grounded directly to a common ground terminal to prevent lightning strike or electric shock. Please make sure to fasten the screw of the main circuit terminals to prevent sparks which is made by the loose screws due to vibration It is crucial to turn off the AC motor drive power before any wiring installation are made. A charge may still remain in the DC bus capacitors with hazardous voltages

DANGER

even if the power has been turned off therefore it is suggested for users to measure the remaining voltage before wiring. For your personnel saftery, please do not perform any wiring before the voltage drops to a safe level < 25 Vdc. Wiring installation with remaninig voltage condition may caus sparks and short circuit. Only qualified personnel familiar with AC motor drives is allowed to perform installation, wiring and commissioning. Make sure the power is turned off before wiring to prevent electric shock. When wiring, please choose the wires with specification that complys with local regulation for your personnel safety. Check following items after finishing the wiring: 1.

Are all connections correct?

2.

Any loosen wires?

3.

Any short-circuits between the terminals or to ground?

4-1

Chapter 4 Wiring

4-1 Wiring

4-2

Chapter 4 Wiring

4-3

Chapter 4 Wiring

Figure 1

Power

Transformer

VFD-CP2000

R / L11

R S

S /L21 T/ L31

T

DC+ R / L12 S /L22 T/ L32 DC-

Figure 2

（

）

（

）

SINK NPN /SOURCE PNP Mode 1 Sink Mode with internal power (+24VDC)

2 Sourc e Mode with internal power (+24VDC)

MI2

MI2 ~

MI1

~

MI1

MI8

MI8

DCM COM +2 4V

+24V COM DCM

internal c irc ui t

3 Sink Mode with external power

4 Sourc e Mode with external power

MI2

MI2 ~

MI1

~

MI1

MI8

MI8

+24V COM

+24V COM

DCM external power +24V

internal c irc ui t

internal c irc ui t

DCM external power +24V

4-4

internal c irc ui t

Chapter 4 Wiring

Figure 3 Frame E~H, remove terminal r and terminal s before using DC-Link. (As circled in dotted line, uninstall the gray section and properly store cable r and cable s. Cable r and cable s are not available in optional accessories, do not dispose them.)

r s

4-5

Chapter 5 Main Circuit Terminals

Chapter 5 Main Circuit Terminals 5-1 Main Circuit Diagram For frame A~C * Provid e 3-ph ase inpu t power

Brake resis tor (optio nal) Jumper

Fuse/NFB(No F use Bre aker)

-

+1

+2

B1

B2 U(T1)

R(L1) R(L1) S(L2) T(L3)

S(L2)

V(T2)

T(L3)

W(T3)

For frame A~C * Pro vide 3 -pha se i nput p ow er

F us e/NF B(No F use B reaker)

DC choke (optional) J umper

-

+2

+1

R(L1) R(L1) S(L2) T(L3)

Mo tor

IM 3~

Br ak e r es istor (optional)

B1

B2 U(T 1)

S(L2)

V(T2)

T(L3)

W(T 3)

Motor

IM 3~

For frame D0 and above D0 * Provide 3-phase input power Fuse/NFB(No Fuse Breaker)

R(L1)

+1/DC+ R(L1)

S(L2) T(L3)

-/DCU(T1)

S(L2)

V(T2)

T(L3)

W(T3)

5-1

Motor

IM 3~


Power

Transformer

VFD-CP2000

R / L11

R S

S /L21 T/ L31

T

DC+ R / L12 S /L22 T/ L32 DC-

NOTE Please remove short circuit plate of FRAME G and H if 12 pulse is implemented

Before implementing 12 pulse, consult Delta for more detail

Terminals

Descriptions

R/L1, S/L2, T/L3

AC line input terminals 3-phase

U/T1, V/T2, W/T3

AC drive output terminals for connecting 3-phase induction motor Applicable to frame A~C

+1, +2

Connections for DC reactor to improve the power factor. It needs to remove the jumper for installation. Connections for brake unit (VFDB series)

+1/DC+, -/DC-

≦22kW, built-in brake unit) (for 460V models: ≦30kW, built-in brake unit) (for 230V models: Common DC Bus

B1, B2

Connections for brake resistor (optional) Earth connection, please comply with local regulations.

5-2


Main power terminals

Do not connect 3-phase model to one-phase power. R/L1, S/L2 and T/L3 has no phase-sequence requirement, it can be used upon random selection.

It is recommend to add a magnetic contactor (MC) to the power input wiring to cut off power quickly and reduce malfunction when activating the protection function of the AC motor drive. Both ends of the MC should have an R-C surge absorber.

Fasten the screws in the main circuit terminal to prevent sparks condition made by the loose screws due to vibration.

Please use voltage and current within the specification.

When using a general GFCI (Ground Fault Circuit Interrupter), select a current sensor with sensitivity of 200mA or above and not less than 0.1-second operation time to avoid nuisance tripping.

Please use the shield wire or tube for the power wiring and ground the two ends of the shield wire or tube.

Do NOT run/stop AC motor drives by turning the power ON/OFF. Run/stop AC motor drives by RUN/STOP command via control terminals or keypad. If you still need to run/stop AC motor drives by turning power ON/OFF, it is recommended to do so only ONCE per hour.

Output terminals for main circuit

When it needs to install the filter at the output side of terminals U/T1, V/T2, W/T3 on the AC motor drive. Please use inductance filter. Do not use phase-compensation capacitors or L-C (Inductance-Capacitance) or R-C (Resistance-Capacitance), unless approved by Delta.

DO NOT connect phase-compensation capacitors or surge absorbers at the output terminals of AC motor drives.

Use well-insulated motor, suitable for inverter operation.

Note down the rated equal," this command will be activated; but it will not be activated when the result is "unequal."

The FLD* command can directly input floating point numerical values (for instance: F1.2) to the S1, S2 operands, or store floating-point numbers in register D for use in operations.

This command can be used while directly connected with the busbar API No. 275 276 277 278 279



280

32-bit commands

＝ FLD＞ FLD＜ FLD＜＞ FLD＜＝ FLD＞＝

Conditions for activation

S1

FLD

S1 S1

＝S ＞S ＜S

Conditions for inactivation

S1 ≠ S2

2 2

S1

2

S1

S1 ≠ S2 S1 S1

S1

≦S ≧S

2

S1

2

S1

≦S ≧S ＝S ＞S ＜S

2 2

2 2 2

When the floating point number of register D200 (D201) is less than or equal to F1.2, and X1 activated, contact Y21 will be activated and remain in that state. X1 FLD=

D100

F1.234

16-111

Chapter 16 PLC Function Applications

16-6-5 Detailed explanation of driver special applications commands API

RPR

139

Bit device X

Y

Read servo parameter

S2

S1

P

Word device

M

K

H

＊＊

KnX KnY KnM

T

C

S1 S2 Notes on operand usage: none

D

＊＊

16-bit command (5 STEP) RPR Continuous RPRP execution type 32-bit command

－

－

－

Flag signal: none

S1 : Parameter address of data to be read.

Pulse execution type

－

S2 : Register where data to be

read is stored. API

WPR

140

S1

P

Bit device X

Y

Write servo parameter

S2

Word device M

K

H

＊＊＊＊

KnX KnY KnM

T

S1 S2 Notes on operand usage: none

C

D

＊＊

16-bit command (5 STEP) WPR Continuous WPRP Pulse execution type execution type 32-bit command

－

－

Flag signal: none

S1 : Data to write to specified page.

－

－

S2 : Parameter address of data to be

written. When the data in the CP2000 driver's parameter H01.00 is read and written to D0, data from H01.01 will be read and written to D1. When M0=On, the content of D10 will be written to the CP2000 driver parameter 04.00 (first speed of multiple speed levels). When the parameter has been written successfully, M1017=On. The CP2000's WPR command does not support writing to the 20XX address, but the RPR command supports reading of 21XX, 22XX.

Recommendation Take care when using the WPR command. When writing parameters, because most parameters are recorded as they are written, these parameters may only be revised 109 times; a memory write error may occur if parameters are written more than 109 times.

Because the following commonly-used parameters have special processing, there are no restrictions on the number of times they may be written. P00-10: Control method P00-11: Speed mode selection P00-12: P2P position mode P00-13: Torque mode select P00-27: User-defined value

16-112


P01-12: Acceleration time 1 P01-13: Deceleration time 1 P01-14: Acceleration time 2 P01-15: Deceleration time 2 P01-16: Acceleration time 3 P01-17: Deceleration time 3 P01-18: Acceleration time 4 P01-19: Deceleration time 4 P02-12: Select MI Conversion Time mode: P02-18: Select MO Conversion Time mode: P04-50 ~ P04-69: PLC register parameter 0 - 19 P08-04: Upper limit of integral P08-05: PID output upper limit P10-17: Electronic gear A P10-18: Electronic gear B P11-34: Torque command P11-43: P2P highest frequency P11-44: Position control acceleration time P11-45: Position control deceleration time

Calculation of the number of times written is based on whether the written value is modified. For instance, writing the same value 100 times at the same time counts as writing only once. When writing a PLC program, if unsure of usage of the WPR command, we recommend that you use the WPRP command.

16-113


API

141

FPID

S1

P

Bit device

S2

S3

＊＊＊＊

Driver PID control mode

Word device

X Y M K H KnX KnY KnM S1 S2 S3 S4 Notes on operand usage: none

S4

＊＊＊＊

T

C

D

＊＊＊＊

16-bit command (9 STEP) FPID Continuous FPIDP execution type 32-bit command

－

－


－

－

Flag signal: none

S1 : PID reference target value input terminal select. proportional gain P. S3 : PID function integral time I.

S2 : PID function S4 : PID function

differential time D. The FPID command can directly control the driver's feedback control of PID parameter 08-00 PID reference target value input terminal selection, 08-01 proposal gain P, 08-02 integral time I, and 08-03 differential time D. When M0=On, the set PID reference target value input terminal selection is 0 (no PID function), the PID function proportional gain P is 0, the PID function integral time I is 1 (units: 0.01 sec.), and the PID function differential time D is 1 (units: 0.01 sec.). When M1=On, the set PID reference target value input terminal selection is 0 (no PID function), the PID function proportional gain P is 1 (units: 0.01), the PID function integral time I is 0, and the PID function differential time D is 0. When M2=On, the set PID reference target value input terminal selection is 1 (target frequency input is controlled from the digital keypad), the PID function proportional gain P is 1 (units: 0.01), the PID function integral time I is 0, and the PID function differential time D is 0. D1027: Frequency command after PID operation. M0 FPID

H0

H0

H1

H1

FPID

H0

H1

H0

H0

FPID

H1

H1

H0

H0

MOV

D1027

D1

M1 M2 M1000

END

16-114


API

142

FREQ

P

S1

Bit device

S2

Driver speed control mode

S3

Word device

X Y M K H KnX KnY KnM S1 S2 S3 Notes on operand usage: none

＊＊＊＊＊＊

T

C

D

＊＊＊

16-bit command (7 STEP) FREQ Continuous FREQP Pulse execution type execution type 32-bit command

－

－

－

－

Flag signal: M1015

S1 : Frequency command. S2 : Acceleration time. S3 : Deceleration time S2,S3: In acceleration/deceleration time settings, the number of decimal places is determined by the definitions of Pr01-45. Example When 01-45=0: units of 0.01 sec. The setting of 50 for S2 (acceleration time) in the ladder diagram below implies 0.5 sec, and the S3 (deceleration time) setting of 60 implies 0.6 sec The FREQ command can control driver frequency commands, and acceleration and deceleration time; it also uses special register control actions, such as: M1025: Control driver RUN(On)/STOP(Off) (RUN requires Servo On (M1040 On) to be effective) M1026: Control driver operating direction FWD(Off)/REV(On) M1040: Control Servo On/Servo Off. M1042: Trigger quick stop (ON)/does not trigger quick stop (Off). M1044: Pause (On)/release pause (Off) M1052: Lock frequency (On)/release lock frequency (Off)

M1025: Driver RUN(On)/STOP(Off), M1026: driver operating direction FWD(Off)/REV(On). M1015: frequency reached. When M10=On, sets the driver frequency command K300(3.00Hz), with an acceleration/deceleration time of 0. When M11=On, sets the driver frequency command K3000 (30.00Hz), with an acceleration time of 50 (0.5 sec.) and deceleration time of 60 (0.6 sec.). (When 01-45=0) When M11=Off, the driver frequency command will now change to 0 M1000 M1025 M11 M1026 M1000 M1040 M12 M1042 M13 M1044 M14 M1052 M10 M11 FREQP K300 K0 K0 M11 M10 K50 K60 FREQ K3000

END

Parameter 09-33 are defined on the basis of whether reference commands have been cleared before PLC operation Bit 0 : Prior to PLC scanning procedures, whether the target frequency has been cleared is 0. (This will be written to the FREQ command when the PLC is On)

16-115


Bit 1 : Prior to PLC scanning procedures, whether the target torque has been cleared is 0. (This will be written to the TORQ command when the PLC is On) Bit 2 : Prior to PLC scanning procedures, whether speed limits in the torque mode have been cleared is 0. (This will be written to the TORQ command when the PLC is On) Example: When using r to write a program, M0 FREQ

K2000

K1000

K1000 END

if we force M0 to be 1, the frequency command will be 20.00 Hz; but when M0 is set as 0, there will be a different situation. Case 1: When the 09-33 bit 0 is 0, and M0 is set as 0, the frequency command will remain at 20.00Hz. Case 2: When the 09-33 bit 0 is 1, and M0 is set as 0, the frequency command will change to 0.00Hz The reason for this is that when the 09-33 bit 0 is 1 prior to PLC scanning procedures, the frequency will first revert to 0. When the 09-33 bit 0 is 0, the frequency will not revert to 0.

16-116


API

261

CANRX

P

S1

Bit device

S2

S3

Word device

X Y M K H KnX KnY KnM S1 S2 S3 D Notes on operand usage: none

＊＊＊＊＊＊

Read CANopen slave station data

D

T

C

D

＊＊＊

16-bit command (9 STEP) CANRX Continuous CANRXP Pulse execution type execution type 32-bit command

－

－

－

－

Flag signal

S1 : Slave station number. D : Preset address.

S2 : Main index..

S3 : Subindex+bit length.

The CANRX command can read the index of the corresponding slave station. When it is executed, it will send the SDO message format to the slave station. M1066 and M1067 will both be 0 at that time, and M1066 will be set as 1 after reading. If the slave station gives the correct response, it will write the value to the preset register, and set M1067 as 1. If the slave station has a response error, M1067 will be set as 0, and an error message will be recorded to D1076 to D1079.

M1002: When the PLC runs, the command will be triggered once and will set K4M400 = K1 Afterwards, each time M1066 is 1, it will switch to a different message.

16-117


API

CANTX

264

P

S1

Bit device X

Y

S2

S3

Word device

M

K

＊＊＊＊

H

＊＊＊＊

KnX KnY KnM

T

S1 S2 S3 S4 Notes on operand usage: none

API

Y

＊＊＊

16-bit command (9 STEP) CANTX Continuous CANTXP Pulse execution type execution type 32-bit command

－

K

H

＊＊

KnX KnY KnM

T

C

D

320 D

32-bit command

－

M

－

－

The CANFLS command can refresh special D commands. When is a read only attribute, executing this command will send a message equivalent to that of CANRX to the slave station, and the number of the slave station will be transmitted back and refreshed to this special D. When there is a read/write attribute, executing this command will send a message equivalent to that of CANTX to the slave station, and the value of this special D will be written to the corresponding slave station. When M1066 and M1067 are both 0, and M1066 is set as 1 after reading, if the slave station gives a correct response, the value will be written to the designated register, and M1067 will be set as 1. If the slave station's response contains an error, then M1067 will be set as 0, and an error message will be recorded to D1076-D1079.

ICOMR Y

－

D : Special D to be refreshed.

D

P

Bit device X

S3 : Main index.

16-bit command (3 STEP) CANFLS Continuous CANFLSP Pulse execution type execution type

Flag signal

API

－

Refresh special D corresponding to CANopen

D Notes on operand usage: none

－

S2 : Address to be written.

Word device

M

－

Flag signal

D

P

Bit device X

D

The CANTX command can write a value to the index of the corresponding slave station. When it is executed, it will send the SDO message format to the slave station. M1066 and M1067 will both be 0 at that time, and M1066 will be set as 1 after reading. If the slave station gives the correct response, it will write the value to the preset register, and set M1067 as 1. If the slave station has a response error, M1067 will be set as 0, and an error message will be recorded to D1076 to D1079.

CANFLS

265

C

S1 : Slave station number. S4 : Subindex+bit length.

Write CANopen slave station data

S4

Internal communications read

Word device K

＊＊＊＊

H

＊＊＊＊

KnX KnY KnM

T

C

S1 S2 S3 D Notes on operand usage: none

D

＊＊＊＊

16-bit command (9 STEP) ICOMR Continuous ICOMRP Pulse execution type execution type 32-bit command (17 STEP) DICOMR Continuous DICOMRP execution type Flag signal: M1077


M1078 M1079

S1 : Selection of slave device. S2 : Device selection (0: converter, 1: internal PLC). S3 : Read address. D : Saving target.

The ICOMR command can obtain the slave station's converter and the internal PLC's register value.

16-118


API

321 D

ICOMW

D

P

Bit device X

Y

M

Internal communications write

Word device K

＊＊＊＊

H

＊＊＊＊

KnX KnY KnM

T

C

S1 S2 S3 D Notes on operand usage: none

D

＊＊＊＊

16-bit command (9 STEP) ICOMW Continuous ICOMWP Pulse execution type execution type 32-bit command (17 STEP) DICOMW Continuous DICOMWP execution type Flag signal: M1077


M1078 M1079

S1 : Selection of slave device. S2 : Device selection (0: converter, 1: internal PLC). S3 : Read address. D : Saving target.

The ICOMW command write a value to the slave station's converter and the internal PLC's register.

Please refer to the following example:

16-119


16-7 Error display and handling Code PLrA

ID 47

PLrt

49

PLod

50

PLSv

51

PLdA

52

PLFn

53

PLor

54

PLFF

55

PLSn

56

PLEd

57

PLCr

58

PLdF

59

PLSF

60

Descript RTC time check

Recommended handling approach Turn power on and off when resetting the keypad time (incorrect RTC mode) Turn power on and off after making sure that the keypad is securely connected Data writing memory error Check whether the program has an error and download the program again Data write memory error during Restart power and download the program program execution again Program transmission error Try uploading again; if the error persists, sent to the manufacturer for service Command error while downloading Check whether the program has an error program and download the program again Program exceeds memory capacity Restart power and download the program again or no program Check whether the program has an error Command error during program and download the program again execution Check code error Check whether the program has an error and download the program again Program has no END stop Check whether the program has an error command and download the program again MC command has been used Check whether the program has an error continuously more than nine times and download the program again Download program error Check whether the program has an error and download again PLC scan time excessively long Check whether the program code has a writing error and download again

16-120


16- 8 CANopen Master control applications Control of a simple multi-axis application is required in certain situations. If the device supports the CANopen protocol, a CP2000 can serve as the master in implementing simple control (position, speed, homing, and torque control). The setting method comprises the following seven steps:

Step 1: Activating CANopen Master functions 1.

Parameter 09-45=1 (initiates Master functions); restart power after completing setting, the status bar on the KPC-CC01 digital keypad will display "CAN Master".

2.

Parameter 00-02=6 reset PLC (please note that this action will reset the program and PLC registers to the default values)

3.

Turn power off and on again.

4.

Use the KPC-CC01 digital keypad to set the PLC control mode as "PLC Stop" (if the KPC-CE01 digital keypad is used, set as "PLC 2"; if a newly-introduced driver is used, the blank internal PLC program will cause a PLFF warning code to be issued).

Step 2: Master memory settings 1.

After connecting the 485 communications cable, use WPL Soft to set the PLC status as Stop (if the PLC mode has been switched to the "PLC Stop" mode, the PLC status should already be Stop)

2.

Set the address and corresponding station number of the slave station to be controlled. For instance, if it is wished to control two slave stations (a maximum of 8 stations can be controlled simultaneously), and the station numbers are 21 and 22, it is only necessary to set D2000 and D2100 as 20 and 21, and then set D2200, D2300, D2400, D2500, D2600, and D2700 as 0. The setting method involves use of the PLC's WPL editing software WPL as follows:

Open WPL and implement communications > register edit (T C D) function

16-121


After leaving the PLC register window, the register setting screen will appear, as shown below:

If there is a new PLC program and no settings have yet been made, you can read default data from the converter, and merely edit it to suit the current application. If settings have already been made, however, the special D in the CANopen area will display the saved status (the CANopen D area is located at D1090 to D1099 and D2000 to D2799). Assuming it is a new program, we will first read the default data from the converter; check the communications format if there is no communications link (the default PLC station number is 2, 9600, 7N2, ASCII). Perform the following steps: 1. Switch the PLC to Stop status; 2. Press the transmit button; 3. click on read memory after exiting the window; 4. Ignore D0-D399; and 5. click on the confirm button.)

16-122


After reading the data, it is necessary to perform some special D settings. Before proceeding, we will first introduce the special D implications and setting range. The CANopen Master's special D range is currently D1070 to D1099 and D2000 to D2799; this range is divided into 3 blocks: The first block is used to display CANopen's current status, and has a range of D1070 to D1089; the second block is used for CANopen's basic settings, and has a range of D1090 to D1099; the third block is the slave station mapping and control area, and has a range of D2000 to D2799; These areas are therefore introduced as follows: The first contains the current CANopen status display: When the master initializes a slave station, we can from find out from D1070 whether configuration of the slave device has been completed; we can find out whether an error occurred in the configuration process from D1071 and whether the configuration is inappropriate from D1074. After entering normal control, we can find out whether the slave device is offline from D1073. In addition, we can check the slave device's read/write information using the CANRX, CANTX, and CANFLS commands; error information can be obtained from D1076 to D1079 if there has been a read/write failure. Special D D1070 D1071 D1072 D1073

Description of Function Channel opened by CANopen initialization (bit0=Machine code0 …….) Error channel occurring in CANopen initialization process (bit0=Machine code0 …….) Reserved CANopen break channel (bit0=Machine code0 …….)

16-123

R/W R R R


Special D D1074 D1075 D1076 D1077 D1078 D1079

Description of Function Error code of master error 0: No error 1: Slave station setting error 2: Synchronizing cycle setting error (too small) Reserved SDO error message (main index value) SDO error message (secondary index value) SDO error message (error code L) SDO error message (error code H)

R/W R R R R R

The second area is for basic CANopen settings: (the PLC must have stopped when this area is used to make settings) We must set the information exchange time for the master and slave station, Special D D1090

Description of Function Synchronizing cycle setting

Default: 4

R/W RW

Use D1090 to perform settings; setting time relationships include:

For instance, when communications speed is 500K, TXPDO + RXPDO have 8 sets, and synchronizing time will require more than 4 ms We must also define how many slave stations will be open. D1091 is the channel for defining station opening, and D2000+100*n is the station number defining this channel. See the detailed explanation below. Slave station number n=0-7 Special D

Description of Function

Sets slave station On or Off (bit 0-bit 7 correspond to D1091 slave stations number 0-7) D2000+100*n Slave station number

16-124

R/W RW RW


If slave devices have a slow start-up, the master can delay for a short time before performing slave station configuration; this time delay can be set via D1092. Special D D1092


Default:

R/W

0

RW

Delay before start of initialization

With regard to slave device initialization, a delay time can be set to judge whether failure has occurred. If the communications speed is relatively slow, the delay time can be adjusted to judge whether initialization has been completed, which will ensure that there is time to perform slave device initialization. Special D D1099

Description of Function Initialization completion delay time Setting range: 1 to 60000 sec

Default: 15 sec.

R/W RW

After communication is successful, the system must detect whether there is a break in communications with the slave station. D1093 is used to set detection time, and D1094 sets the number of consecutive errors that will trigger a break error. Special D D1093 D1094

Description of Function Break time detection Break number detection

Default: 1000ms 3

R/W RW RW

The packet type transmitted by PDO is set before establishing normal communications and generally does not require adjustment. Special D D1097 D1098


Default:

Corresponding real-time transmission type (PDO) Setting range: 1~240 Corresponding real-time receiving type (PDO) Setting range: 1~240

R/W RW

1 1

RW

The third block is the slave station mapping and control area. CANopen provides a PDO method to perform mapping of the master and slave station memory, and enables the master to directly access read/write data in a certain memory area. The master will automatically perform data exchange with the corresponding slave device, and the read/write values can be seen directly from the special D area after real-time exchange (M1034 = 1 time) has been established. The CP2000 currently supports real-time mapping of four PDOs, and there are two types of PDO RXPDO (reads slave device information) and TXPDO (writes to slave device). In addition, in order to facilitate control, the CP2000 cannot perform mapping of commonly-used registers; the following is an overview of the current PDO mapping situation:

TX PDO PDO4 (Torque) Description Special D Controller D2008+100*n word Target D2017+100*n torque Control D2010+100*n mode

PDO3 (Position) Description Special D Controller D2008+100*n word Target D2020+100*n position D2021+100*n Control D2010+100*n mode

16-125

PDO2 (Remote I/O) Description Special D Slave device D2027+100*n DO Slave device D2031+100*n AO1 Slave device D2032+100*n AO2 Slave device D2033+100*n AO3

PDO1 (Speed) Description Special D Controller D2008+100*n word Target D2012+100*n speed


RXPDO PDO4 (Torque) Description Special D

PDO3 (Position) Description Special D

Mode word D2009+100*n

Mode word D2009+100*n

Actual torque Actual mode

Actual position Actual mode

D2018+100*n D2011+100*n

D2022+100*n D2023+100*n D2011+100*n

PDO2 (Remote I/O) Description Special D Slave device D2026+100*n DI Slave device D2028+100*n AI1 Slave device D2029+100*n AI2 Slave device D2030+100*n AI3

PDO1 (Speed) Description Special D

Mode word D2009+100*n Actual frequency

D2013+100*n

Because usage requires only simple to open the corresponding PDO, where TXPDO employs D2034+100*n settings and RXPDO employs D2067+100*n settings. These two special D areas are defined as follows: PDO4 Torque

Default definition bit Definition

15 En

14 ~ 12 Length:

PDO3 Position 11 En

PDO2 Remote I/O

10 ~ 8 Length:

7 En

6~4 Length:

PDO1 Speed 3 En

2~0 Length:

En: indicates whether PDO is used Length:

indicates mapping of several variables In a simple example, if we wish to control a CP2000 slave device and cause it to operate in

speed mode, we only have to make the following settings: D2034+100*n =000Ah

TX PDO Length 1 2 3

PDO4 Description Special D Controller D2008+100*n word Target D2017+100*n torque Control D2010+100*n mode

PDO3 Description Controller word Target position Control mode

PDO2

Special D D2008+100*n D2020+100*n D2021+100*n D2010+100*n

4

Definition bit Definition

15 0

PDO4 Torque 14 ~ 12 0

11 0

PDO3 Position 10 ~ 8 0

Description Slave device DO Slave device AO1 Slave device AO2 Slave device AO3

PDO1

Special D

Description Special D Controller D2027+100*n D2008+100*n word Target D2031+100*n D2012+100*n speed D2032+100*n D2033+100*n

PDO2 Remote I/O 7 6~4 0 0

3 1

PDO1 Speed 2~0 2

D2067+100*n =000Ah

TX PDO Length

PDO4

1

Description Special D Controller D2009+100*n word

2 3

Actual torque D2018+100*n Actual mode D2011+100*n

PDO3 Description Controller word Actual position Actual mode

Special D D2009+100*n D2022+100*n D2023+100*n D2011+100*n

4

Definition bit Definition

15 0

PDO4 Torque 14 ~ 12 0

11 0

PDO3 Position 10 ~ 8 0

16-126

PDO2 Description Slave device DI Slave device AI1 Slave device AI2 Slave device AI3

Special D D2026+100*n D2028+100*n

PDO1 Description Special D Controller D2009+100*n word Actual D2013+100*n frequency

D2029+100*n D2030+100*n

PDO2 Remote I/O 7 6~4 0 0

3 1

PDO1 Speed 2~0 2


Switch the PLC to Run after completing settings. Now wait for successful initialization of CANopen (M1059 = 1 and M1061 = 0), and then initiate CANopen memory mapping (M1034 = 1). The control word and frequency command will now automatically refresh to the corresponding slave device (D2008+n*100 and D2012+n*100), and the slave device's status word and currently frequency will also be automatically sent back to the master station (D2009+n*100 and D2013+n*100). This also illustrates how the master can handle these tasks through read/write operations in the special D area. Furthermore, it should be noted that the remote I/O of PDO2 can obtain the slave device's current DI and AI status, and can also control the slave device's DO and AO status. Nevertheless, after introducing a fully automatic mapping special D, the CP2000 CANopen master also provides additional information refreshes. For instance, while in speed mode, acceleration/deceleration settings may have been refreshed. The special D therefore also stores some seldom-used real-time information, and these commands can be refreshed using the CANFLS command. The following is the CP2000's current CANopen master data conversion area, which has a range of D2001+100*n - D2033+100*n, as shown below:

1. The range of n is 0-7 2. ●Indicates PDOTX, ▲Indicates PDORX; unmarked special D can be refreshed using the CANFLS command Special D D2000+100*n D2002+100*n D2003+100*n D2004+100*n D2005+100*n


Default

Station number n of slave station Setting range: 0~127 0: No CANopen function Manufacturer code of slave station number n (L) Manufacturer code of slave station number n (H) Manufacturer's product code of slave station number n (L) Manufacturer's product code of slave station number n (H)

1

PDO Default 2 3 4

R/W

0

RW

0

R

0

R

0

R

0

R

Basic definitions Special D D2006+100*n D2007+100*n D2008+100*n D2009+100*n D2010+100*n D2011+100*n

Description of Function Communications break handling method of slave station number n Error code of slave station number n error Control word of slave station number n Status word of slave station number n Control mode of slave station number n Actual mode of slave station number n

16-127

Default

1

PDO Default 2 3

4

R/W

0

RW

0

R

0

●

●

●

RW

0

▲

▲

▲

R

2

RW

2

R


Velocity Control Special D


D2001+100*n Torque restriction on slave station number n Target speed of slave station D2012+100*n number n (rpm) Actual speed of slave station D2013+100*n number n (rpm) Error speed of slave station D2014+100*n number n (rpm) Acceleration time of slave station D2015+100*n number n (ms) Deceleration time of slave station D2016+100*n number n (ms)

Default

PDO Default 2 3

1

4

0

R/W RW

0

●

RW

0

▲

R

0

R

1000

RW

1000

RW

Torque control Special D


Target torque of slave station number n(-100.0%~+100.0%) Actual torque of slave station D2018+100*n number n(XX.X%) Actual current of slave station D2019+100*n number n(XX.XA) D2017+100*n

Default

1

PDO Default 2 3

4

R/W

0

●

RW

0

▲

R

0

R

Position control Special D


D2020+100*n Target of slave station number n (L) Target of slave station number n D2021+100*n (H) Actual position of slave station D2022+100*n number n (L) Actual position of slave station D2023+100*n number n (H) Speed chart of slave station D2024+100*n number n (L) Speed chart of slave station D2025+100*n number n (H)

Default

1

PDO Default 2 3 4

0

R/W RW

●

0 0

RW R

▲ 0

R RW

10000

RW

0

Remote I/O Special D


D2026+100*n MI status of slave station number n MO setting of slave station number D2027+100*n n AI1 status of slave station number D2028+100*n n AI2 status of slave station number D2029+100*n n AI3 status of slave station number D2030+100*n n AO1 setting of slave station D2031+100*n number n AO2 setting of slave station D2032+100*n number n AO3 setting of slave station D2033+100*n number n

16-128

Default 0

1

PDO Default 2 3 4 ▲

R/W R RW

0

●

0

▲

R

0

▲

R

0

▲

R

0

●

RW

0

●

RW

0

●

RW


After gaining an understanding of special D definitions, we return to setting steps. After entering the values corresponding to D1090 to D1099, D2000+100*n, D2034+100*n and D2067+100*n, we cannot begin to perform downloading, which is performed in accordance with the following steps: (1. D2000 and D2100 are set as 20 and 21, and D2200, D2300, D2400, D2500, D2600, and D2700 are set as 0; if a setting of 0 causes problems, D1091 can be set as 3, and slave stations 2 to 7 can be closed. 2. Switch PLC to Stop status. 3. Press the transmit button. 4. click on write memory after exiting the window. 5. Ignore D0-D399. 6. Change the second range to D1090-D1099. 7. Click on Confirm.)

Another method can be used to set D1091: Determine which of slave stations 0 to 7 will not be needed, and set the corresponding bits to 0. For instance, if it is not necessary to control slave stations 2, 6 and 7, merely set D1091 = 003B, and the setting method is the same as described above: Use WPL to initiate communications > use register edit (T C D) function to perform settings.

Step 3: Set the master's communications station number and communications speed

When setting the master's station number (parameter 09-46, default is set as 100), make sure not to use the same number as a slave station.

Set the CANopen communications speed (parameter 09-37); regardless of whether the driver is defined as a master or slave station, the communications speed is set via this parameter.

16-129


Step 4: Write program code Real-time access: Can directly read/write to or from the corresponding D area. Non real-time access: Read command:

Use the CANRX command for reading. M1066 will be 1 when reading is

complete; M1067 will be 1 if reading is successful, and M1067 will be 0 if an error has occurred. Write command:

Use the CANTX command for writing. M1066 will be 1 when writing is

complete; M1067 will be 1 if writing is successful, and M1067 will be 0 if an error has occurred. Refresh command:

Use CANFLS command to refresh (if there are RW attributes, the master will

write to the slave station; if there are RO attributes, the slave station will return the read values to the master); M1066 will be 1 if refresh has been completed; M1067 will be 1 if refresh is successful, and M1067 will be 0 if an error has occurred. NOTE

When using CANRX, CANTX or CANFLS, internal implementation commands will wait until M1066 is completed before executing the next CANRX, CANTX or CANFLS. Afterwards, download program to the driver (Please note that the PLC's default communications format is ASCII 7N2 9600, and the station number is 2. The WPL must therefore be modified, and the WPL setting pathway is settings > communications settings)

Step 5: Set the slave stations' station numbers, communications speed, control source, and command source Delta's CP2000 and EC series devices currently support the CANopen communications interface driver, and the corresponding slave station numbers and communications speed parameters are as follows: Corresponding device parameters CP2000 E-C Slave station address

09-36

09-20

Communication speed

09-37

09-21

00-21 00-20 11-33 11-40 -

02-01 02-00 -

Control source Frequency source Torque source Position source

Value 0 1~127 0 1 2 3 4 5 3 5 6 5 3 3 -

16-130

Definition Disable CANopen hardware interface CANopen Communication address 1M 500K 250K 125K 100K 50K


Delta's A2 Servo currently supports the CANopen communications interface, and the corresponding slave station numbers and communications speed parameters are as follows: Corresponding device parameters A2

Value

03-00

1~127

Communication speed

03-01 bit 8-11 XRXX

R= 0 R= 1 R= 2 R= 3 R= 4

Control/command source

01-01

B

Slave station address

Definition CANopen Communication address 125K 250K 500K 750K 1M

Step 6: Connect hardware wiring When performing wiring, note the head and tail terminal resistance; connection methods are as follows:

Step 7: Initiate control After a program has been written and downloaded, switch the PLC mode to Run. Merely turn power to master and slave stations off and then on again. Refer to CANMasterTest 1 vs. 2 driver.dvp Example : CP2000 driver one-to-two control Step 1: Activating CANopen Master functions

Parameter 09-45=1 (initiates Master functions); restart power after completing setting, the status bar on the KPC-CC01 digital keypad will display "CAN Master".

Parameter 00-02=6 reset PLC (please note that this action will reset the program and PLC registers to the default values)

Turn power off and on again.

Use the KPC-CC01 digital keypad to set the PLC control mode as "PLC Stop" (if the KPC-CE01 digital keypad is used, set as "PLC 2"; if a newly-introduced driver is used, the blank internal PLC program will cause a PLFF warning code to be issued). 16-131


Step 2: Master memory correspondences

Enable WPL

Use keypad set PLC mode as Stop (PLC 2)

WPL read D1070 to D1099 D2000 to D2799

Set D2000=10 D2100=11

Set D2100 2200 2300 2400 2500 2600 2700=0

Download D2000 to D2799 settings

Step 3: Set the master's communications station number and communications speed

When setting the master's station number (parameter 09-46, default is set as 100), make sure not to use the same number as a slave station.

Set the CANopen communications speed as 1M (parameter 09-37=0); regardless of whether the driver is defined as a master or slave station, the communications speed is set via this parameter.

Step 4: Write program code Real-time access: Can directly read/write to or from the corresponding D area. Non real-time access: Read command: Use the CANRX command for reading. M1066 will be 1 when reading is complete; M1067 will be 1 if reading is successful, and M1067 will be 0 if an error has occurred. Write command: Use the CANTX command for writing. M1066 will be 1 when writing is complete; M1067 will be 1 if writing is successful, and M1067 will be 0 if an error has occurred. Refresh command: Use CANFLS command to refresh (if there are RW attributes, the master will write to the slave station; if there are RO attributes, the slave station will return the read values to the master); M1066 will be 1 if refresh has been completed; M1067 will be 1 if refresh is successful, and M1067 will be 0 if an error has occurred. NOTE

When using CANRX, CANTX or CANFLS, internal implementation commands will wait until M1066 is completed before executing the next CANRX, CANTX or CANFLS.

Afterwards, download program to the driver (Please note that the PLC's default communications format is ASCII 7N2 9600, and the station number is 2. The WPL must therefore be modified, and the WPL setting pathway is settings > communications settings) Step 5: Set the slave stations' station numbers and communications speed Slave station no. 1: 09-37 = 0(Speed 1M)

09-36=10(Node ID 10 )

Slave station no. 2: 09-37 = 0(Speed 1M)

09-36=10(Node ID 11 )

16-132


Step 6: Connect hardware wiring When performing wiring, note the head and tail terminal resistance; connection methods are as follows:

Terminal resistor

Terminal resistor

Step 7: Initiate control After a program has been written and downloaded, switch the PLC mode to Run. Merely turn power to master and slave stations off and then on again. Refer to CANMasterTest 1 vs. 2 driver.dvp

16-133


16-9 Explanation of various PLC speed mode controls Speed mode supports SVC control. Under the speed mode of SVC control, control therefore cannot be performed successfully unless finish motor parameter auto tuning ahead of time. Control methods and settings are explained as follows: Speed control: Register table for speed mode: Control special M Special M M1025 M1026 M1040 M1042 M1044 M1052


Attributes

Driver frequency = set frequency (ON)/driver frequency =0 (OFF) Driver operating direction FWD(OFF)/REV(ON) Hardware power (Servo On) Quick stop Pause (Halt) Lock frequency (lock, frequency locked at the current operating frequency)

RW RW RW RW RW RW

Status special M Special Description of Function M M1015 Frequency attained (when used together with M1025) M1056 Servo On Ready M1058 On Quick Stopping

Attributes RO RO RO

Control special D Special Description of Function D D1060 Mode setting (speed mode is 0)

Attributes RW

Status special D Special Description of Function D D1037 Converter output frequency (0.00~600.00) D1050 Actual operating mode (speed mode is 0)

Attributes RO RO

Speed mode control commands: FREQ(P)

S1 Target speed

S2 The first acceleration time setting

S3 The first deceleration time setting

Example of speed mode control: Before performing speed control, if the SVC control method is used, setting of electromechanical parameters must first be completed. 1.

Setting D1060 = 0 will shift the converter to the speed mode (default).

2.

Use the FREQ command to control frequency, acceleration time, and deceleration time.

3.

Set M1040 = 1, the driver will now be excited, but the frequency will be 0.

16-134


4.

Set M1025 = 1, the driver frequency command will now jump to the frequency designated by FREQ, and acceleration/deceleration will be controlled on the basis of the acceleration time and deceleration time specified by FREQ.

5.

M1052 can be used to lock the current operating frequency.

6.

M1044 can be used to temporarily pause operation, and the deceleration method will comply with deceleration settings.

7.

M1042 can be used to perform quick stop, and deceleration will be as quick as possible without giving rise to an error. (There may still be a jump error if the load is too large.)

8.

Control user rights:

M1040(Servo ON) > M1042(Quick Stop) >M1044(Halt) >M1052(LOCK)

16-135


16-10 Internal communications main node control The protocol has been developed in order to facilitate the use of 485 instead of CANopen in certain application situations. The 485 protocol offers similar real-time characteristics as CANopen; this protocol can only be used on the CP2000 and CT2000 devices. The maximum number of slave devices is 8. Internal communications have a master-slave structure. The initiation method is very simple: Slave device: Set parameter 09-31 = -1 to -8 in order to access 8 nodes, and set parameter 00-20 = 1 to define the control source as 485 and access the reference sources that must be controlled, namely speed command (00-21 = 2), torque command (11-33 = 1), and position command (11-40=2). This will complete slave device settings. (PLC functions do not need to be activated) System Setting the master is even simpler; it is only necessary to set parameter 09-31 = -10, and enable the PLC. Hardware wiring: The master and slave stations are connected via the 485 serial port. The CP2000 provide two types of 485 serial port interfaces, see the figure below: (please refer to 06 Control terminals concerning detailed terminal connections)

16-136


Master programming: In a program, D1110 can be used to define a slave station to be controlled (1-8, if set as 0, can jump between 8 stations). Afterwards, M1035 is set as 1, and the memory positions of the master and slave stations will correspond. At this time, it is only necessary to send commands to the correlation slave station address to control that station. The following is a register table connected with internal communications: Control special M Attributes

Special M Description of Function M1035 Initiates internal communications control Control special D Special D D1110

RW

Attributes


Internal node communications number 1-8 (set the station number of the slave station to be controlled)

RW

Description of Function Special D

Definition

D1120 + 10*N

Internal node N control command

D1121 + 10*N

Internal node N control mode

Attributes Location User bit Speed mode Torque mode Homing mode rights mode Command Homing 0 4 functions Origin Reverse Immediate 1 4 rotation change requirements 2 4 Temporary Temporary 3 3 pause pause Frequency Temporary 4 4 locking pause 5 4 JOG RW 6 2 Quick Stop Quick Stop Quick Stop Quick Stop 7 1 Servo ON Servo ON Servo ON Servo ON Speed interval Speed interval 11~8 4 switching switching Deceleration 13~12 4 time change Enable Bit 13 Enable Bit 13 14 4 ~8 ~8 Clear error Clear error Clear error Clear error 15 4 code code code code

0

1

2

3

RW

Position command (with numbers)

Torque command (with numbers)

-

RW

Speed limit

-

RW

D1122 + 10*N

Internal node N reference command L

Speed command (no number)

D1123 + 10*N

Internal node N reference command H

-

※ N=0~7

Status special D Attributes Special D Description of Function RO D1115 Internal node synchronizing cycle (ms) Internal node error (bit0 = slave device 1, bit1 = slave device 2,…bit7 = slave RO D1116 device 8) Internal node online correspondence (bit0 = slave device 1, bit1 = slave device RO D1117 2,…bit7 = slave device 8)

16-137



Special D

bit

Speed mode Frequency command arrival Clockwise Counterclockwise: Warning Error JOG Quick Stop Servo ON

Location mode Position command attained Clockwise Counterclockwise: Warning Error

Torque mode Torque command attained Clockwise Counterclockwise: Warning Error

Homing mode Zero command completed Clockwise Counterclockwise: Warning Error

Quick Stop Servo ON

Quick Stop Servo ON

D1127 + 10*N

Actual frequency

D1128 + 10*N

-

Actual position (with numbers)

Quick Stop Servo ON Actual torque (with numbers) -

0 1 D1126 + 10*N

2 3 5 6 7

※ N=0~7

-

Attributes

RO

RO

-

Example: Assume it is desired to control slave station 1 operation at frequencies of 30.00Hz and 60.00 Hz, status, and online node correspondences: 0

M1000 MOV Normally open contact of operation monitoring (a)

D1117

K1M700

Internal node online mapping

MOV

D1126

Node 0 online

K4M250 Node 0 arrive

MOV K4M200 Node 0 ack

D1120 Control command of internal node 0

(M1035) Enable internal communication control

When it is judged that slave station 1 is online, delay 3 sec. and begin control 17

M700 MOVP

K0

Node 0 online TMR T0

K30 T0 Enable Control Delay ( M100 ) Enable Control

Enable Control Delay T0

( M215 ) Reset

Enable Control Delay 33

D1121 Control mode of internal node 0

M100 MOVP

Enable Control

K0

D1121 Control mode of internal node 0

( M207 ) Node 0 Servo On

( M200 ) Node 0 Ack

16-138


It is required slave station 1 maintain forward rotation at 30.00Hz for 1 sec., and maintain reverse rotation at 60.00 Hz for 1 sec., and repeat this cycle continuously. 41

M300 MOV K3000 D1122 +30.00Hz M250 TMR

Node 0 arrive

52

M301 ( M200 ) Rev

-60.00Hz MOV

K6000

D1122 Reference command L of the internal node 0

M250 TMR

Node 0 arrive 64

K10

T10

K10

T11

M302 MOV Repeat

K1

K1M300 +30.00Hz

M100

73

Enable control M100 M300 T10 +30.00Hz

ROLP K4M300 +30.00Hz

Enable control

K1

M301 T11 -60.00Hz 84

END

16-139


16-11 Modbus remote IO control applications (use MODRW) The CP2000's internal PLC supports 485 read/write functions, which can be realized using the MODRW command. However, the 485 serial port must be defined as available for the PLC's 485 use before writing a program, and the parameter 09-31 must be set as -12. After completing settings, the standard functions defined by 485 can be used to implement read/write commands at other stations. Communications speed is defined by parameter 09-01, the communications format is defined by parameter 09-04, and the PLC's current station number is defined by parameter 09-35. The CP2000 currently supports the functions read coil (0x01), read input (0x02), read register (0x03), write to single register (0x06), write to several coils (0x0F), and write to several registers (0x10). Explanations and the usage of these functions are provided as follows: MODRW command S1 S2 S3 S4 S5 Node Return: Command Address Length: D area ID K3

H01

H500

D0

K3

H02

H400

D10

K3

H03

H600

D20

K3

H06

H610

D30

K3

H0F

H509

D40

K3

H10

H602

D50

General meaning

Slave device is Delta's PLC meaning

Slave device is Delta's converter meaning

Read 18 bits of data corresponding to slave station 3 PLC Y0 to Y21. This Does not support this function data is stored by bit 0 to 15 of the this station's D0 and bit 0 to bit 3 of D1. Read 10 bits of data corresponding to Read input slave station 3 PLC X0 to X11. This K10 Does not support this function (Bit) data is stored by bit 0 to 9 of this station's D10. Read 3 words of data Read 3 words of data corresponding corresponding to slave station Read register K3 to slave station 3 PLC T0 to T2. This 3 converter parameters 06-00 (word) data is stored by D20 to D22. to 06-02. This data is stored by D20 to D22 Write slave station 3 converter Write to single Write slave station 3 PLC's T16 to this XX 06 to 16 parameter to this register (word) station's D30 value station's D30 value Write to Write slave station 3 PLC's Y11 to K10 multiple coils Does not support this function Y22 to bit 0 to 9 of D40. (Bit) Write to Write slave station 3 converter multiple Write slave station 3 PLC's T2 to T5 to 06-02 to 06-05 parameters to K4 registers D50 to D53 this station's D50 to D53 (word)

Read coil K18 (Bit)

※ XX indicates doesn't matter

After implementing MODRW, the status will be displayed in M1077 (485 read/write complete), M1078 (485 read/write error), and M1079 (485 read/write time out). M1077 is defined so as to immediately revert to 0 after the MODRW command has been implemented. However, any of three situations—a report of no error, a data error report, or time out with no report—will cause the status of M1077 to change to On. Example program: Testing of various functions At the start, will cause the transmitted time sequence to switch to the first data unit. 0

M1002 MOV On only for 1 scan a

16-140

K1

K4M0


When the reported message indicates no error, it will switch to the next transmitted command 6

M1077 M1078 M1079 ROLP

K4M0

K1

485 R/W 485 R/W 485 R/W rite is co rite is fail rite is time 0

If time out occurs or an error is reported, the M1077 will change to On. At this time, after a delay of 30 scanning cycles, it will re-issue the original command once 14

M1077 D30

ADD

K1 D30

485 R/W rite is co D30 K40

33

MOV K0 D30 ( M200 ) Delay cycle

M1002 ( M100 ) ReqTXOnce

ON only for 1 scan a M200 Delay cycle 36

M100 ReqTXOnce

M0 MODRW K2

H1 H500 D200

MODRW K2

HF H500 D100

MODRW K2

H2 H410 D201

MODRW K3

H3 H2100 D300

MODRW K2

H2 H410 D201

M1 M2 M3 M4

It will repeat after sending all commands 102

M5 MOV K1 K4M0

INC D30 K40

D1

MOV K1 K4M0

121

END

Practical applications: Actual use to control the RTU-485 module. Step 1: Set the communications format. Assume that the communications format is 115200, 8,N,2, RTU

：

CP2000 The default PLC station number is set as 2 (09-35) 09-31=-12(COM1 is controlled by the PLC ), 09-01=115.2(The communications speed is 115200 ) 09-04=13(The format is 8,N,2, RTU)

16-141


RTU485: The station number = 8 (give example) ID7 ID6 ID5 ID4 ID3 ID2 ID1 ID0 0

0

0

0

1

0

0

0

PA3 PA2 PA1 PA0 DR2 DR1 DR0 A/R 1

0

0

0

1

1

1

0

Communication station #: ID0~ ID7 are defined as 2 0 , 2 1, 2 2 ...2 6, 27

Communication protocol Communication Protocol

Communicaton Speed

Step 2: Install control equipment. We sequentially connect a DVP16-SP (8 IN 8 OUT), DVP-04AD (4 channels AD), DVP02DA (2 channels DA), and DVP-08ST (8 switches) to the RTU485. The following corresponding locations can be obtained from the RTU485's configuration definitions:

Module DVP16-SP

Terminals 485 Address X0 ~ X7

0400H ~ 0407H

Y0 ~ Y7

0500H ~ 0507H

DVP-04AD AD0 ~ AD3

1600H ~ 1603H

DVP02DA

1640H ~ 1641H

DA0 ~ DA1

DVP-08ST Switch 0 ~ 7 0408H ~ 040FH

16-142


Step 3: Physical configuration CP200 0

Step 4: Write to PLC program

16-143


16-144


Step 5: Actual testing situation: I/O testing: When the switch is activated, it can be discovered that the display corresponds to M115 M108. Furthermore, it can be seen that one output point light is added every 1 sec. (the display uses a binary format)

This light signal increase by 1number per second.

WPL will be modified when pressing this Switch

AD DA testing: It can be discovered that D200 and D201 are roughly twice the D300, and continue to increase progressively. For their part, the D202 and D203 are roughly twice the D301, and continue to decrease progressively.

16-145


16-146


16-12 Calendar functions (KPC-CC01) is connected, and otherwise cannot be used. Currently-support commands include TCMP (comparison of calendar data), TZCP (calendar data range comparison), TADD (calendar data addition), TSUB (calendar data subtraction), and TRD (calendar reading). Please refer to the explanation of relevant commands and functions for the usage of these commands. In real applications, the internal PLC can judge whether calendar function have been activated; if they have been activated, calendar warning codes may be displayed in some situations. The basis for whether a calendar function has been activated is whether the program has written the calendar time (D1063 to D1069) in connection with the foregoing calendar commands or programs. The calendar's time display is currently assigned to D1063 to D1069, and is defined as follows: Special D

Item

Year (Western) D1064 Weeks D1063

Content

Attributes

20xx (2000~2099)

RO

1~7

RO

D1065

Month

1~12

RO

D1066

Day

1~31

RO

D1067

Hour

0~23

RO

D1068

Minute

0~59

RO

D1069

Second

0~59

RO

Calendar-related special M items are defined as follows: Special Item D M1068 Calendar time error Calendar time error or refresh time M1076 out M1036 Ignore calendar warning

Attributes

RO RO RW

*When a program writes to the commands TCMP, TZCP, TADD, or TSUB, if it is discovered that a value exceeds the reasonable range, M1026 will be 1. *When the keypad display is PLra (RTC correction warning) or PLrt (RTC time out warning), M1076 will be ON. *When M1036 is 1, the PLC will ignore the calendar warning. Calendar trigger warning code is defined as follows: Warning

Description

PLra

Calendar time correction

PLrt

Calendar time refresh time out

Reset approach Requires power restart Requires power restart

Whether it affects PLC operation Will not have any effect Will not have any effect

*When the PLC's calendar functions are operating, if the keypad is replaced with another keypad, it will jump to PLra. *When it is discovered at startup that the keypad has not been powered for more than 7 days, or the time is wrong, PLra will be triggered. *When it is discovered that the CP2000 has no keypad 10 sec. after startup, PLrt will be triggered.

16-147


*If the keypad is suddenly pulled out while the calendar is operating normally, and is not reconnected for more than 1 minute, PLrt will be triggered. Practical applications: We will perform a demo of simple applications. We first correct the keypad time. After pressing Menu on the keypad, select the 9th time setting option. After selection, set the current time.

Time Setup 2014/03/ 05 16:11:37

Menu 7.Quick Start 8.Displ Setup 9.Time Setup

We set converter on during the period of 8:00-17:20, which allows us to write the following example At K16

Normally open contact of operation monitoring (a)

At K16

Servo on

Motor drive Run (ON)/ Stop(OFF)

Normally open contact of operation monitoring (a)

16-148

Chapter 17 Introduction to BACnet

Chapter 17 Introduction to BACnet 1.

About BACnet:

BACnet is an ASHRAE communication protocol for building automation and control networks. (ASHRAE: American Society of Heating, Refrigerating and Air-Conditioning Engineers, Inc.). CP2000’s BACnet is based on version 20004. BACnet’s regulations are related to several kinds of physical layers’ interfaces. The physical layer built inside CP200 is achieved via MS/TP interface. The BACnet of CP2000 supports a device type called B-ASC. B-ASC supports six types of services such as DS-RP-B, DS-RPM-B, DS-WP-B, DM-DDB-B, DM-DOB and DM-DCC-B.

2. CP2000 BACnet-Object and Property: In CP2000, BACnet supports 3 object types: Device, AnalogValue (AV) and BinaryValue (BV). In each object type, we have to the following table to show the Properties list: Object Type

Property ID

Device

Analog Value

#4

ACTIVE TEXT

#11

APDU_TIMEOUT

V

#12

APPLICATION_SOFTWARE_VERSION

V

#28

DESCRIPTION

V

V

#30

DEVICE ADDRESS BINDING

V

V

#36

EVENT STATE

#44

FIRMWARE_REVISION

#46

INACTIVE TEXT

#62

MAX_APDU_LENGTH_ACCEPTED

V

#63

MAX_INFO_FRAMES

V

#64

MAX_MASTER

V

#70

MODEL_NAME

V

#73

NUMBER_OF_APDU_RETRIES

V

#75

OBJECT_IDENTIFIER

#76

OBJECT_LIST

#77

OBJECT_NAME

#79

OBJECT_TYPE

#81

Binary Value V

V

V

V

V V

V *1

V

V

V *1

V

V

V

V

V

OUT OF SERVICE

V

V

#85

PRESENT VALUE

V *2

V *2

#87

PRIORITY ARRAY

V *3

V *3

#96

PROTOCOL_OBJECT_TYPES_SUPPORTED

V

V

17-1

Chapter 17 Introduction to BACnet Object Type

Property ID

Device

#97

PROTOCOL_SERVICES_SUPPORTED

V

#98

PROTOCOL_VERSION

V

Analog Value

Binary Value

V *3

V *3

V

V

#104 RELINQUISH DEFAULT #107 SEGMENTATION_SUPPORTED

V

#111 STATUS FLAGS #112 SYSTEM_STATUS

V

#117 UNITS

V

#120 VENDOR_IDENTIFIER

V

#121 VENDOR_NAME

V

#139 PROTOCOL_REVISION

V

#155 DATABASE_REVISION

V

*1. The Object_ID and Object_Name Properties of Device are writeable. *2. The Present_Value Property of some AV and BV objects is commendable. *3. Only Commendable objects support Priority_Array and Relinquish_Default. The AV objects, we have commendable and readonly cases.

Commendable case: We can use Write_Service to access the Present_Value property of commendable AV objects. Thus, the commandable AV objects are linking to the Control_Word and Pr_Word in CP2000.

Readonly case: We can use Read_Service to access the Present_Value property of readonly AV objects. Thus, these readonly AV objects are linking to the Status_Word in CP2000.

The BV objects, we also have commandable and readonly cases.

Commendable case: We can use Write_Service to access the Present_Value property of commendable BV objects. Thus, the commandable BV objects are linking to the Control_Bit in CP2000.

Readonly case: We can use Read_Service to access the Present_Value property of readonly BV objects. Thus, these readonly BV objects are linking to the Status_Bit in CP2000.

2.1 Commendable Analog Value Object In CP20000, we have AV_000~AV_026 supporting commendable Presnet_Value property. For these AV_Objects, we also can use (Multi)Read_Service to access Priority_Array and Relinquish_Default properties. Object Number

R/W

Object Name

Object Description

Unit

AV 000

RW

Reserved

Reserved

AV 001

RW

FreqRefValue

Frequency Reference Value

AV 002

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 003

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 004

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 005

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 006

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 007

RW

Reserved

Reserved

UNITS_NO_UNITS

UNITS_NO_UNITS

17-2

UNITS_HERTZ

Chapter 17 Introduction to BACnet Object Number

R/W

Object Name

Object Description

Unit

AV 008

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 009

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 010

RW

Reserved

Reserved

UNITS_NO_UNITS

AV 011

RW

(P9-11 map set)

AV11 will modify data which is P9-11 mapping to

Depends

AV 012

RW

(P9-12 map set)


Depends

AV 013

RW

(P9-13 map set)


Depends

AV 014

RW

(P9-14 map set)


Depends

AV 015

RW

(P9-15 map set)


Depends

AV 016

RW

(P9-16 map set)


Depends

AV 017

RW

(P9-17 map set)


Depends

AV 018

RW

(P9-18 map set)


Depends

AV 019

RW

(P9-19 map set)


Depends

AV 020

RW

(P9-20 map set)


Depends

AV 021

RW

(P9-21 map set)


Depends

AV 022

RW

(P9-22 map set)


Depends

AV 023

RW

(P9-23 map set)


Depends

AV 024

RW

(P9-24 map set)


Depends

AV 025

RW

(P9-25 map set)


Depends

AV 026

RW

(P9-26 map set)


Depends

2.2 Status (Readonly) Analog Value Object In CP20000, we have AV_027~AV_068 with readonly Presnet_Value property. For these AV_Objects, we do NOT have Priority_Array and Relinquish_Default properties. Object Number

R/W

Object Name

Object Description

AV 027

R

Reserved

Reserved

UNITS_NO_UNITS

AV 028

R

Reserved

Reserved

UNITS_NO_UNITS

AV 029

R

Reserved

Reserved

UNITS_NO_UNITS

AV 030

R

Reserved

Reserved

UNITS_NO_UNITS

AV 031

R

Output frequency Display output frequency(Hz)

UNITS_HERTZ

AV 032

R

Reserved

Reserved

UNITS_NO_UNITS

AV 033

R

Reserved

Reserved

UNITS_NO_UNITS

AV 034

R

Reserved

Reserved

UNITS_NO_UNITS

AV 035

R

Output torque(%) Display output torque(%)

UNITS_PERCENT

AV 036

R

Reserved

Reserved

UNITS_NO_UNITS

AV 037

R

Reserved

Reserved

UNITS_NO_UNITS

AV 038

R

Reserved

Reserved

UNITS_NO_UNITS

AV 039

R

Status word

Display status word,made from BV16~BV31

UNITS_NO_UNITS

AV 040

R

Reserved

Reserved

UNITS_NO_UNITS

17-3

Unit


R/W

Object Name

Object Description

Unit

AV 041

R

Driver type code

Driver type code

UNITS_NO_UNITS

AV 042

R

Warn code

Warn code

UNITS_NO_UNITS

AV 043

R

Error code

Error code

UNITS_NO_UNITS

AV 044

R

Output current

Display output current(Amp)

UNITS_AMPERES

AV 045

R

DC-bus voltage

Display DC-BUS voltage(Volt)

UNITS_VOLTS

AV 046

R

Output Voltage

Display output voltage of U, V, W(Volt)

UNITS_VOLTS

AV 047

R

Count Value

Display counter value of TRG terminal

UNITS_NO_UNITS UNITS_POWER_FA

AV 048

R

Power Angle

Display output power angle of U, V, W

AV 049

R

Output Power

Display actual output power of U, V, W(kw)

CTOR UNITS_KILOWATTS UNITS_DEGREES_

AV 050

R

IGBT temperature Display the IGBT temperature Temperature of

AV 051

R

driver

CELSIUS UNITS_DEGREES_

Display the temperature of capacitance

CELSIUS

Real carry AV 052

R

frequency

Display real carrier frequency of the drive(KHz)

UNITS_KILOHERTZ

PID feedback AV 053

R

value

Display PID feedback value(%)

UNITS_PERCENT

AV 054

R

Overload rate

Display overload condition(%)

UNITS_PERCENT

UNITS_PERCENT

Ground fail detect AV 055

R

level

Display GND fail detect level(%)

AV 056

R

DC bus ripple

Display DCbus voltage ripples(Volt)

AV 057

R

Fan Speed

Fan speed of the drive(%)

Output

UNITS_VOLTS UNITS_PERCENT UNITS_REVOLUTIO

AV 058

R

speed(rpm)

Output speed(rpm)

NS_PER_MINUTE

AV 059

R

KW per Hour

KW per Hour

AV 060

R

Multi-speed switch Real multi-speed switch

UNITS_NO_UNITS

AV 061

R

AVI input value

0~10V corresponds to 0~100%

UNITS_PERCENT

AV 062

R

ACI input value

4~20mA/0~10V corresponds to 0~100%

UNITS_PERCENT

AV 063

R

AUI input value

-10V~10V corresponds to -100~100%

UNITS_PERCENT

AV 064

R

Digital input status Refer to P2-12

UNITS_KILOWATTS

UNITS_NO_UNITS

Digital output AV 065

R

status

Refer to P2-18

UNITS_NO_UNITS

Corresponding CPU pin status of digital input

UNITS_NO_UNITS

Corresponding CPU pin status of digital output

UNITS_NO_UNITS

CPU pin status of AV 066

R

DI CPU pin status of

AV 067

R

DO

AV 068

R

PLC D1043 value PLC D1043 value

17-4

UNITS_NO_UNITS


2.3 Commandable Binary Value Object In CP20000, we have BV_000~BV_015 supporting commendable Presnet_Value property. For these BV_Objects, we also can use (Multi)Read_Service to access Priority_Array and Relinquish_Default properties. Object Number

R/W

Object Name

Object Description

BV 000

RW

ACTIVE CMD

(0)FreqCmd=0;(1)FreqCmd=FreqRefValue

BV 001

RW

FWD/REV CMD

(0)Forward; (1)Reverse

BV 002

RW

Reserved

Reserved

BV 003

RW

HALT CMD

(0)None;(1)RampDown to 0Hz.

BV 004

RW

LOCK CMD

(0)None;(1)OutputFreq stays at current freqency

BV 005

RW

Reserved

Reserved

BV 006

RW

QSTOP CMD

(0)None;(1)Force driver quick stop

BV 007

RW

ServoPower CMD

(0)PowerOff(free run to stop);(1)PowerOn

BV 008

RW

Reserved

Reserved

BV 009

RW

Reserved

Reserved

BV 010

RW

Reserved

Reserved

BV 011

RW

Reserved

Reserved

BV 012

RW

Reserved

Reserved

BV 013

RW

Reserved

Reserved

BV 014

RW

Reserved

Reserved

BV 015

RW

RESET

RESET:(0)Do nothing;(1)Reset fault

2.4 Status (Readonly) Binary Value Object In CP20000, we have BV_016~BV_031 with readonly Presnet_Value property. For these BV_Objects, we do NOT have Priority_Array and Relinquish_Default properties. Object Number

R/W

Object Name

Object Description

BV 016

R

ARRIVE STATE

(0)Not yet;(1)Arrive (OutputFreq=FreqCmd)

BV 017

R

FWD/REV STATE

(0)Forward;(1)Reverse

BV 018

R

WARN STATE

(0)No Warn;(1)Occur Warn

BV 019

R

ERROR STATE

(0)No Error;(1)Occur Error

BV 020

R

Reserved

Reserved

BV 021

R

Reserved

Reserved

BV 022

R

QSTOP STATE

(0)No QSTOP;(1)Occur QSTOP

BV 023

R

SerovPower STATE


BV 024

R

Reserved

Reserved

BV 025

R

Reserved

Reserved

BV 026

R

Reserved

Reserved

BV 027

R

Reserved

Reserved

17-5


R/W

Object Name

Object Description

BV 028

R

Reserved

Reserved

BV 029

R

Reserved

Reserved

BV 030

R

Reserved

Reserved

BV 031

R

Reserved

Reserved

17-6


3. Steps to setup the Pr about BACnet in CP2000 Related to BACnet function in CP2000, We have to configure 2 parts of Pr. Part1. Setup parameters related to Communication at Pr_Group9. Part2. Setup parameters related to System_Parameter at Pr_Group0.

Part1. Pr_Group9, Communication. 1-1. Set Pr09-31 =1, BACnet is enabled, then the COM1_Port will be accessed by BACnet. When this is set, the COM1_Port communication format will be changed to RTU 8N1. (Note: The HW Pins of COM1_Port are shared by RJ45 and RS485. When BACnet is enabled, BACnet will access the COM1_Port, that also means we can NOT have Modbus, PLC connections, VFDSoft and VFD Explorer by COM1_Port). 1-2.

Set Pr09-50, Default = 10, BACnet’s MS/TP station number 0~127

1-3.

Set Pr09-51, Default = 38400, BACnet communication baud rate, 9600, 19200, 38400 or 76800bps.

1-4. Set Pr09-52 and Pr09-53, The default setting of Device Object_Identifier is 0x0010. (Pr09-52=10, Pr09-53=00). Device Object_Identifier is the combination of Pr09-52 and Pr09-53, thus the setting range can be 0~4194303. For example, Pr09-53=12(0Ch) and Pr09-52 =3456(0D80h), then the device Identifier’s value =12*65536+3456 =789888(0C0D80h). 1-5. Set Pr09-55, Default =127, the highest allowable address for master nodes on the same MS/TP network. CP2000 base on this setting to know the Max search range. 1-6. Set Pr09-56, setup the BACnet password. If setup is successful, the keypad will display 8888.

Part2. Pr_Group0, System Parameter. 2-1.

Set Pr00-20 =1, That means the source of the Frequency command is from RS485 Interface (accessed by BACnet).

2-2.

Set Pr00-21 =2, That means the source of the Operation command is from RS485 Interface (accessed by BACnet).

Here is a simple example: After setting up the 2 parts of Pr, we can enable the BACnet function in CP2000. Thus, we can access some BACnet objects to make the CP2000 driving motor Run or Stop. Step1. Write_Service on AV_001, Present_Value =60.0 Setup Frequency Reference Value. Step2. Write_Service on BV_007, Present_Value =Active. Setup Servo PowerOn. Step3. Write_Service on BV_000, Present_Value =Active. Setup Active CMD. Step4. Read_Service on AV_031, Present_Value User can know the Output frequency.

PS. In CP2000, base on different Pr setting or IO setting, we can make FreqCmd with different source of Reference Value. PLS check the usage of Keypad, Pr and IO setting for more detail information.

17-7


Then connection of the communication cable as shown in the below diagram. Please note that HW Pins of COM1_Port are shared by RJ45 and RS485. That means user can use RJ45_cable or RS485_lines to access the COM1_Port. When BACnet is enabled, COM1_Port will be dominated by BACnet function. Under this condition, user will not be able to have MODBUS or PLC function on COM1_Port.

17-8


：July 24, 2014

BACnet Protocol Implementation Conformance Statement

Date

Vendor Name: Delta Electronics, Inc. Product Name: CP2000 Product Model Number: VFD-CP2000 Applications Software Version: Ver 01.04- yyyymm

Firmware Revision:

Ver 01.04

BACnet Protocol

Revision: 7 Product Description: Delta VFD-CP2000 is a Variable Frequency AC motor Drive with BACnet embedded. In VFD-CP2000, the BACnet connection is by MS/TP, RS485-based. VFD-CP2000 provides a BACnet communication function that permits it as a server and supports BIBBs defined by the BACnet B-ASC. VFD-CP2000 BACnet provides the capability to control and monitor the VFD-CP2000 machine. BACnet Standardized Device Profile (Annex L): BACnet Operator Workstation (B-OWS) BACnet Building Controller (B-BC) BACnet Advanced Application Controller (B-AAC)

BACnet Application Specific Controller (B-ASC) BACnet Smart Sensor (B-SS) BACnet Smart Actuator (B-SA) List all BACnet Interoperability Building Blocks Supported (Annex K): Data Sharing BIBBs Data Sharing-ReadProperty-B

(DS-RP-B)

Data Sharing-WriteProperty-B (DS-WP-B) Data Sharing-ReadPropertyMultiple-B

(DS-RPM-B)

Device and Network Management BIBBs Device Management-Dynamic Device Binding-B (DM-DDB-B) Device Management-Dynamic Object Binding-B (DM-DOB-B) Device Management-DeviceCommunicationControl-B (DM-DCC-B) Segmentation Capability: Segmented requests supported

Window Size

Segmented responses supported Window Size Standard Object Types Supported: Analog Value Binary Value Device

Object instantiation is static. Refer to table at end of this document for object details.

17-9

Chapter 17 Introduction to BACnet Data Link Layer Options: BACnet IP, (Annex J) BACnet IP, (Annex J), Foreign Device ISO 8802-3, Ethernet (Clause 7) ANSI/ATA 878.1, 2.5 Mb. ARCNET (Clause 8) ANSI/ATA 878.1, RS-485 ARCNET (Clause 8), baud rate(s) ____________

MS/TP master (Clause 9), baud rate(s): 9600, 19200, 38400, 76800 MS/TP slave (Clause 9), baud rate(s): ________ Point-To-Point, EIA 232 (Clause 10), baud rate(s): Point-To-Point, modem, (Clause 10), baud rate(s): LonTalk, (Clause 11), medium: __________ Other: Device Address Binding: Is static device binding supported? (This is currently necessary for two-way communication with MS/TP slaves and certain other devices.) Yes

No

Networking Options: Router, Clause 6 - List all routing configurations, e.g., ARCNET-Ethernet, Ethernet-MS/TP, etc. Annex H, BACnet Tunneling Router over IP BACnet/IP Broadcast Management Device

(BBMD)

Does the BBMD support registrations by Foreign Devices? Yes

No

Character Sets Supported: Indicating support for multiple character sets does not imply that they can all be supported simultaneously. ANSI X3.4

IBM/Microsoft DBCS

ISO 8859-1

ISO 10646 (UCS-2)

ISO 10646 (UCS-4)

JIS C 6226

If this product is a communication gateway, describe the types of non-BACnet equipment/networks(s) that the gateway supports: ____________________________________________________________________________________________ ___ ____________________________________________________________________________________________ ___

17-10


The Properties of Objects Object Type

Property ID

Device

Analog Value Binary Value

#4

ACTIVE TEXT

V

#11

APDU_TIMEOUT

V

#12

APPLICATION_SOFTWARE_VERSION

V

#28

DESCRIPTION

V

V

#30

DEVICE ADDRESS BINDING

V

V

#36

EVENT STATE

#44

FIRMWARE_REVISION

#46

INACTIVE TEXT

#62

MAX_APDU_LENGTH_ACCEPTED

V

#63

MAX_INFO_FRAMES

V

#64

MAX_MASTER

V

#70

MODEL_NAME

V

#73

NUMBER_OF_APDU_RETRIES

V

#75

OBJECT_IDENTIFIER

#76

OBJECT_LIST

#77

OBJECT_NAME

#79

OBJECT_TYPE

#81

V

V

V

V V

V

V

V *1

V

V

V

V

V

OUT OF SERVICE

V

V

#85

PRESENT VALUE

V *2

V *2

#87

PRIORITY ARRAY

V *3

V *3

#96

PROTOCOL_OBJECT_TYPES_SUPPORTED

V

#97

PROTOCOL_SERVICES_SUPPORTED

V

#98

PROTOCOL_VERSION

V

#104

RELINQUISH DEFAULT

V *3

V *3

#107

SEGMENTATION_SUPPORTED

#111

STATUS FLAGS

V

V

#112

SYSTEM_STATUS

#117

UNITS

#120

VENDOR_IDENTIFIER

V

#121

VENDOR_NAME

V

#139

PROTOCOL_REVISION

V

#155

DATABASE_REVISION

V

V *1 V

V

V V

*1. The Object_ID and Object_Name Properties of Device are writeable. *2. The Present_Value Property of some AV and BV objects are commandable. *3. Only Commandable objects support Priority_Array and Relinquish_Default.

17-11


Commandable Analog Value Object In VFD-CP2000, we have AV_000~AV_026 supporting commandable Presnet_Value property. In these AV_Objects, we also can use (Multi)Read_Service to access Priority_Array and Relinquish_Default properties. Object Number

R/W

Object Name

Object Description

AV 000

RW

AV_000_Reserved

Reserved

AV 001

RW

AV_001_FreqRefValue

Frequency Reference Value

AV 002

RW

AV_002_Reserved

Reserved

UNITS_NO_UNITS

AV 003

RW

AV_003_Reserved

Reserved

UNITS_NO_UNITS

AV 004

RW

AV_004_Reserved

Reserved

UNITS_NO_UNITS

AV 005

RW

AV_005_Reserved

Reserved

UNITS_NO_UNITS

AV 006

RW

AV_006_Reserved

Reserved

UNITS_NO_UNITS

AV 007

RW

AV_007_Reserved

Reserved

UNITS_NO_UNITS

AV 008

RW

AV_008_Reserved

Reserved

UNITS_NO_UNITS

AV 009

RW

AV_009_Reserved

Reserved

UNITS_NO_UNITS

AV 010

RW

AV_010_Reserved

Reserved

UNITS_NO_UNITS

AV 011

RW

AV_011_P9-11 map set= -----


Depends

AV 012

RW

AV_012_P9-12 map set= -----


Depends

AV 013

RW

AV_013_P9-13 map set= -----


Depends

AV 014

RW

AV_014_P9-14 map set= -----


Depends

AV 015

RW

AV_015_P9-15 map set= -----


Depends

AV 016

RW

AV_016_P9-16 map set= -----


Depends

AV 017

RW

AV_017_P9-17 map set= -----


Depends

AV 018

RW

AV_018_P9-18 map set= -----


Depends

AV 019

RW

AV_019_P9-19 map set= -----


Depends

AV 020

RW

AV_020_P9-20 map set= -----


Depends

AV 021

RW

AV_021_P9-21 map set= -----


Depends

AV 022

RW

AV_022_P9-22 map set= -----


Depends

AV 023

RW

AV_023_P9-23 map set= -----


Depends

AV 024

RW

AV_024_P9-24 map set= -----


Depends

AV 025

RW

AV_025_P9-25 map set= -----


Depends

AV 026

RW

AV_026_P9-26 map set= -----


Depends

17-12

Unit UNITS_NO_UNITS UNITS_HERTZ


Status (Readonly) Analog Value Object In VFD-CP2000, we have AV_027~AV_068 with readonly Presnet_Value property. In these AV_Objects, we do NOT have Priority_Array and Relinquish_Default properties. Object Number

R/W

Object Name

Object Description

Unit

AV 027

R

AV_027_Reserved

Reserved

UNITS_NO_UNITS

AV 028

R

AV_028_Reserved

Reserved

UNITS_NO_UNITS

AV 029

R

AV_029_Reserved

Reserved

UNITS_NO_UNITS

AV 030

R

AV_030_Reserved

Reserved

UNITS_NO_UNITS

AV 031

R

AV_031_Output frequency

Display output frequency(Hz)

AV 032

R

AV_032_Reserved

Reserved

UNITS_NO_UNITS

AV 033

R

AV_033_Reserved

Reserved

UNITS_NO_UNITS

AV 034

R

AV_034_Reserved

Reserved

UNITS_NO_UNITS

AV 035

R

AV_035_Output torque(%)

Display output torque(%)

UNITS_PERCENT

AV 036

R

AV_036_Reserved

Reserved

UNITS_NO_UNITS

AV 037

R

AV_037_Reserved

Reserved

UNITS_NO_UNITS

AV 038

R

AV_038_Reserved

Reserved

UNITS_NO_UNITS

AV 039

R

AV_039_Status word

Display status word,made from BV16~BV31

UNITS_NO_UNITS

AV 040

R

AV_040_Reserved

Reserved

UNITS_NO_UNITS

AV 041

R

AV_041_Driver type code

Driver type code

UNITS_NO_UNITS

AV 042

R

AV_042_Warn code

Warn code

UNITS_NO_UNITS

AV 043

R

AV_043_Error code

Error code

UNITS_NO_UNITS

AV 044

R

AV_044_Output current

Display output current(Amp)

UNITS_AMPERES

AV 045

R

AV_045_DC-bus voltage

Display DC-BUS voltage(Volt)

UNITS_VOLTS

AV 046

R

AV_046_Output Voltage

Display output voltage of U, V, W(Volt)

UNITS_VOLTS

AV 047

R

AV_047_Count Value

Display counter value of TRG terminal

UNITS_NO_UNITS

AV 048

R

AV_048_Power Angle

Display output power angle of U, V, W

UNITS_HERTZ

UNITS_POWER_FACT OR AV 049

R

AV_049_Output Power

Display actual output power of U, V, W(kw)

AV 050

R

AV_050_IGBT temperature

Display the IGBT temperature

UNITS_KILOWATTS UNITS_DEGREES_CE LSIUS UNITS_DEGREES_CE

AV 051

R

AV_051_Temperature of driver

Display the temperature of capacitance LSIUS

AV 052

R

AV_052_Real carry frequency

Display real carrier frequency of the drive(KHz)

UNITS_KILOHERTZ

AV 053

R

AV_053_PID feedback value

Display PID feedback value(%)

UNITS_PERCENT

AV 054

R

AV_054_Overload rate

Display overload condition(%)

UNITS_PERCENT

AV 055

R

AV_055_Ground fail detect level Display GND fail detect level(%)

AV 056

R

AV_056_DC bus ripple

Display DCbus voltage ripples(Volt)

AV 057

R

AV_057_Fan Speed

Fan speed of the drive(%)

AV 058

R

AV_058_Output speed(rpm)

Output speed(rpm)

UNITS_PERCENT UNITS_VOLTS UNITS_PERCENT UNITS_REVOLUTION S_PER_MINUTE

17-13

Chapter 17 Introduction to BACnet Object

Number

R/W

Object Name

Object Description

Unit

AV 059

R

AV_059_KW per Hour

KW per Hour

AV 060

R

AV_060_Multi-speed switch

Real multi-speed switch

UNITS_NO_UNITS

AV 061

R

AV_061_AVI input value

0~10V corresponds to 0~100%

UNITS_PERCENT

AV 062

R

AV_062_ACI input value

4~20mA/0~10V corresponds to 0~100%

UNITS_PERCENT

AV 063

R

AV_063_AUI input value

-10V~10V corresponds to -100~100%

UNITS_PERCENT

AV 064

R

AV_064_Digital input status

Refer to P2-12

UNITS_NO_UNITS

AV 065

R

AV_065_Digital output status

Refer to P2-18

UNITS_NO_UNITS

AV 066

R

AV_066_CPU pin status of DI

Corresponding CPU pin status of digital input

UNITS_NO_UNITS

AV 067

R

AV_067_CPU pin status of DO

Corresponding CPU pin status of digital output

UNITS_NO_UNITS

AV 068

R

AV_068_PLC D1043 value

PLC D1043 value

UNITS_NO_UNITS

UNITS_KILOWATTS

Commendable Binary Value Object In VFD-CP2000, we have BV_000~BV_015 supporting commandable Presnet_Value property. In these BV_Objects, we also can use (Multi)Read_Service to access Priority_Array and Relinquish_Default properties. Object

R/W

Object Name

Object Description

Number BV 000

RW

BV_000_ACTIVE CMD

(0)FreqCmd=0;(1)FreqCmd=FreqRefValue

BV 001

RW

BV_001_FWD/REV CMD

(0)Forward; (1)Reverse

BV 002

RW

BV_002_Reserved

Reserved

BV 003

RW

BV_003_HALT CMD

(0)None;(1)RampDown to 0Hz.

BV 004

RW

BV_004_LOCK CMD

(0)None;(1)OutputFreq stays at current freqency

BV 005

RW

BV_005_Reserved

Reserved

BV 006

RW

BV_006_QSTOP CMD

(0)None;(1)Force driver quick stop

BV 007

RW

BV_007_ServoPower CMD


BV 008

RW

BV_008_Reserved

Reserved

BV 009

RW

BV_009_Reserved

Reserved

BV 010

RW

BV_010_Reserved

Reserved

BV 011

RW

BV_011_Reserved

Reserved

BV 012

RW

BV_012_Reserved

Reserved

BV 013

RW

BV_013_Reserved

Reserved

BV 014

RW

BV_014_Reserved

Reserved

BV 015

RW

BV_015_RESET

RESET:(0)Do nothing;(1)Reset fault

17-14


Status (Readonly) Binary Value Object In VFD-CP2000, we have BV_016~BV_031 with readonly Presnet_Value property. In these BV_Objects, we do NOT have Priority_Array and Relinquish_Default properties. Object

R/W

Object Name

Object Description

Number BV 016

R

BV_016_ARRIVE STATE

(0)Not yet;(1)Arrive (OutputFreq=FreqCmd)

BV 017

R

BV_017_FWD/REV STATE

(0)Forward;(1)Reverse

BV 018

R

BV_018_WARN STATE

(0)No Warn;(1)Occur Warn

BV 019

R

BV_019_ERROR STATE

(0)No Error;(1)Occur Error

BV 020

R

BV_020_Reserved

Reserved

BV 021

R

BV_021_Reserved

Reserved

BV 022

R

BV_022_QSTOP STATE

(0)No QSTOP;(1)Occur QSTOP

BV 023

R

BV_023_SerovPower STATE


BV 024

R

BV_024_Reserved

Reserved

BV 025

R

BV_025_Reserved

Reserved

BV 026

R

BV_026_Reserved

Reserved

BV 027

R

BV_027_Reserved

Reserved

BV 028

R

BV_028_Reserved

Reserved

BV 029

R

BV_029_Reserved

Reserved

BV 030

R

BV_030_Reserved

Reserved

BV 031

R

BV_031_Reserved

Reserved

17-15

Chapter 18 Suggestions and Error Corrections for Standard AC Motor Drives

Chapter 18 Suggestions and Error Corrections for Standard AC Motor Drives 18-1 Maintenance and Inspections 18-2 Greasy Dirt Problem 18-3 Fiber Dust Problem 18-4 Erosion Problem 18-5 Industrial Dust Problem 18-6 Wiring and Installation Problem 18-7 Multi-function Input/Output Terminals Problem The AC motor drive has a comprehensive fault diagnostic system that includes several different alarms and fault messages. Once a fault is detected, the corresponding protective functions will be activated. The following faults are displayed as shown on the AC motor drive digital keypad display. The six most recent faults can be read from the digital keypad or communication.

The AC motor drive is made up by numerous components, such as electronic components, including IC, resistor, capacity, transistor, and cooling fan, relay, etc. These components can’t be used permanently. They have limited-life even under normal operation. Preventive maintenance is required to operate this AC motor drive in its optimal condition, and to ensure a long life. Check your AC motor drive regularly to ensure there are no abnormalities during operation and follows the precautions: Wait 5 seconds after a fault has been cleared before performing reset via keypad of input terminal. When the power is off after 5 minutes for

≦ 22kW models and 10 minutes for ≧

30kW models, please confirm that the capacitors have fully discharged by measuring the voltage between + and -. The voltage between + and - should be less than 25VDC. Only qualified personnel can install, wire and maintain drives. Please take off any metal objects, such as watches and rings, before operation. And only insulated tools are allowed. Never reassemble internal components or wiring. Make sure that installation environment comply with regulations without abnormal noise, vibration and smell.

18-1


18-1 Maintenance and Inspections Before the check-up, always turn off the AC input power and remove the cover. Wait at least 10 minutes after all display lamps have gone out, and then confirm that the capacitors have fully discharged by measuring the voltage between DC+ and DC-. The voltage between DC+ and DC-should be less than 25VDC. Ambient environment Maintenance Check Items

Methods and Criterion

Check the ambient temperature, humidity,

Visual inspection and

vibration and see if there are any dust, gas,

measurement with equipment

oil or water drops

with standard specification

If there are any dangerous objects

Visual inspection

Period Half One Daily Year Year

○ ○

Voltage Maintenance Check Items


Check if the voltage of main circuit and

Measure with multimeter with

control circuit is correct

standard specification


○

Digital Keypad Display Maintenance Check Items


Is the display clear for reading

Visual inspection

Any missing characters

Visual inspection


○ ○

Mechanical parts Maintenance Check Items


If there is any abnormal sound or vibration

Visual and aural inspection

If there are any loose screws

Tighten the screws

If any part is deformed or damaged

Visual inspection

If there is any color change by overheating

Visual inspection

If there is any dust or dirt

Visual inspection

18-2


○ ○ ○ ○ ○


Main circuit Maintenance Check Items

If there are any loose or missing screws If machine or insulator is deformed, cracked, damaged or with color change due to overheating or ageing If there is any dust or dirt


Tighten or replace the screw


○

Visual inspection

○

NOTE: Please ignore the color change of copper plate

○

Visual inspection

Terminals and wiring of main circuit Maintenance Check Items

If the terminal or the plate is color change or

deformation due to overheat If the insulator of wiring is damaged or color change If there is any damage



Visual inspection

○

Visual inspection

○

Visual inspection

○

DC capacity of main circuit Maintenance Check Items

If there is any leak of liquid, color change, crack or deformation If the safety valve is not removed? If valve is

inflated?


Visual inspection Visual inspection

Measure static capacity when required


○ ○ ○

Resistor of main circuit Maintenance Check Items

If there is any peculiar smell or insulator cracks due to overheat If there is any disconnection If connection is damaged?


Visual inspection, smell Visual inspection Measure with multimeter with standard specification

18-3


○ ○ ○


Transformer and reactor of main circuit Maintenance Check Items


If there is any abnormal vibration or peculiar

Visual, aural inspection and

smell

smell


○

Magnetic contactor and relay of main circuit Maintenance Check Items


If there are any loose screws

Visual and aural inspection

If the contact works correctly

Visual inspection


○ ○

Printed circuit board and connector of main circuit Maintenance Check Items


Tighten the screws and If there are any loose screws and connectors

press the connectors firmly in place.

corrosion If there is any liquid is leaked or deformation in

capacity

○

Visual inspection

○ ○

Visual inspection

○

If there is any peculiar smell and color change Visual and smell inspection If there is any crack, damage, deformation or


Cooling fan of cooling system Maintenance Check Items



Visual, aural inspection and turn the fan with hand (turn If there is any abnormal sound or vibration

off the power before

○

operation) to see if it rotates smoothly If there is any loose screw

Tighten the screw

If there is any color change due to overheat

Change fan

18-4

○ ○


Ventilation channel of cooling system Maintenance Check Items


If there is any obstruction in the heat sink, air intake or air outlet

Visual inspection


○

NOTE

Please use the neutral cloth for clean and use dust cleaner to remove dust when necessary.

18-5


18-2 Greasy Dirt Problem Serious greasy dirt problems generally occur in processing industries such as machine tools, punching machines and so on. Please be aware of the possible damages that greasy oil may cause to your drive: 1.

Electronic components that silt up with greasy oil may cause the drive to burn out or even explode.

2.

Most greasy dirt contains corrosive substances that may damage the drive.

Solution: Install the AC motor drive in a standard cabinet to keep it away from dirt. Clean and remove greasy dirt regularly to prevent damage of the drive.

18-6


18-3 Fiber Dust Problem Serious fiber dust problems generally occur in the textile industry. Please be aware of the possible damages that fiber may cause to your drives: 1.

Fiber that accumulates or adheres to the fans will lead to poor ventilation and cause overheating problems.

2.

Plant environments in the textile industry have higher degrees of humidity that may cause the drive to burn out, become damaged or explode due to wet fiber dust adhering to the devices.

Solution: Install the AC motor drive in a standard cabinet to keep it away from fiber dust. Clean and remove fiber dust regularly to prevent damage to the drive.

18-7


18-4 Erosion Problem Erosion problems may occur if any fluids flow into the drives. Please be aware of the damages that erosion may cause to your drive. 1.

Erosion of internal components may cause the drive to malfunction and possibility to explode.

Solution: Install the AC motor drive in a standard cabinet to keep it away from fluids. Clean the drive regularly to prevent erosion.

18-8


18-5 Industrial Dust Problem Serious industrial dust pollution frequently occurs in stone processing plants, flour mills, cement plants, and so on. Please be aware of the possible damage that industrial dust may cause to your drives: 1.

Dust accumulating on electronic components may cause overheating problem and shorten the service life of the drive.

2.

Conductive dust may damage the circuit board and may even cause the drive to explode.

Solution: Install the AC motor drive in a standard cabinet and cover the drive with a dust cover. Clean the cabinet and ventilation hole regularly for good ventilation.

18-9


18-6 Wiring and Installation Problem When wiring the drive, the most common problem is wrong wire installation or poor wiring. Please be aware of the possible damages that poor wiring may cause to your drives: 1.

Screws are not fully fastened. Occurrence of sparks as impedance increases.

2.

If a customer has opened the drive and modified the internal circuit board, the internal components may have been damaged.

Solution: Ensure all screws are fastened when installing the AC motor drive. If the AC motor drive functions abnormally, send it back to the repair station. DO NOT try to reassemble the internal components or wire.

18-10


18-7 Multi-function Input/Output Terminals Problem Multi-function input/output terminal errors are generally caused by over usage of terminals and not following specifications. Please be aware of the possible damages that errors on multi-function input/output terminals may cause to your drives: 1.

Input/output circuit may burns out when the terminal usage exceeds its limit.

Solution: Refer to the user manual for multi-function input output terminals usage and follow the specified voltage and current. DO NOT exceed the specification limits.

18-11

Chapter 19 EMC Standard Installation Guide

AC Motor Drives

EMC Standard Installation Guide EMC Compliance Practice

19-1


Preface When an AC motor drive is installed in a noisy environment, radiated and/or conducted noise via signal and power cables can interfere with the correct functioning, cause errors or even damage to the drive. To prevent this, some AC motor drives have an enhanced noise resistance but the results are limited and it is not economical. Therefore, an effective method would be finding the cause of the noise and use the right solution to achieve “no emission, no transmission and no reception of noise”. All three solutions should be applied.

Finding the Noise • • •

Ascertain whether the error is caused by noise. Find the source of the noise and its transmission path. Confirm the signal and the source of noise

Solutions • • •

Grounding Shielding Filtering

19-2


Table of Contents Preface Table of Contents 19-1 Introduction 19-1.1 What is EMC 19-1.2 EMC for AC Motor Drive 19-2 How to prevent EMI 19-2.1 Types of EMI: common-mode and differential mode noise 19-2.2 How does EMI transmit? (Noise transmission) 19-3 Solution to EMI: Grounding 19-3.1 Protective Grounding & Functional Grounding 19-3.2 Ground Loops 19-3.3 Earthing Systems 19-4 Solution to EMI: Shielding 19-4.1 What is Shielding? 19-4.2 How to Reduce EMI by Shielding? 19-5 Solution to EMI: Filter 19-5.1 Filter 19-5.2 Harmonic Interference

19-3


19-1 Introduction 19-1.1 What is EMC? Electromagnetic Compatibility (EMC) is the ability of an electrical device to function properly in electromagnetic environments. It does not emit electromagnetic noise to surrounding equipment and is immune to interference from surrounding equipment. The goal is to achieve high immunity and low emission; these two properties define the quality of EMC. In general, electrical devices react to high and low frequency phenomena. High frequency phenomena are electrostatic discharge (ESD); pulse interference; radiated electromagnetic field; and conducted high frequency electrical surge. Low frequency phenomena refer to mains power harmonics and imbalance. The standard emission and immunity levels for compliance depend on the installation location of the drive. A Power Drive System (PDS) is installed in an industrial or domestic environment. A PDS in a domestic environment must have lower emission levels and is allowed to have lower immunity levels. A PDS in an industrial environment is allowed to have higher emission levels but must have more severe immunity levels.

19-1.2 EMC for AC Motor Drive When an AC motor drive is put into operation, harmonic signal will occur at the AC drive’s power input and output side. It creates a certain level of electromagnetic interference to the surrounding electrical devices and the mains power network. An AC motor dive is usually applied in industrial environments with a strong electromagnetic interference. Under such conditions, an AC drive could disturb or be disturbed. Delta’s AC motor drives are designed for EMC and comply with EMC standard EN61800-3 2004. Installing the AC motor drive accurately will decrease EMI influences and ensure long term stability of the electricity system. It is strongly suggested to follow Delta’s user manual for wiring and grounding. If any difficulties or problems arise, please follow the instructions and measures as indicated in this EMC Standard Installation Guide.

19-4


19-2 How to prevent EMI 19-2.1 Types of EMI: Common-mode and differential-mode noise The electromagnetic noise of an AC motor drive can be distinguished into common-mode and differential-mode noise. Differential-mode noise is caused by the stray capacitance between the conducting wires and common-mode noise is caused by the common-mode coupling current path created by the stray capacitance between the conducting wires and ground. Basically, differential-mode noise has a greater impact to the AC motor drive and common-mode noise has a greater impact to high-sensitivity electronic devices. An excessive amount of differentialmode noise may trigger the circuit protection system of the AC motor drive. Common-mode noise affects peripheral electronic devices via the common ground connection. EMC problems can be more serious when the following conditions apply: • When a large horsepower AC motor drive is connected to a large horsepower motor. • The AC motor drive’s operation voltage increases. • Fast switching of the IGBTs. • When a long cable is used to connect the motor to the AC motor drive.

19-2.2 How does EMI transmit? (Noise transmission path) Noise disturbs peripheral high-sensitivity electrical devices/systems via conduction and radiation, their transmission paths are shown hereafter: 1. Noise current in the unshielded power cable is conducted to ground via stray capacitances into a common-mode voltage. Whether or not other modules are capable to resist this common-mode noise depends on their Common-Mode Rejection Ratio (CMRR), as shown in the following figure.

Noise

Unshielded cable

Send

Receive Load

Cstray

Ground

2. Common-mode noise in the power cable is transmitted through the stray capacitance and coupled into the adjacent signal cable, as shown in Figure 2. Several methods can be applied to reduce the effect of this common-mode noise; for example, shield the power cable and/or the signal cables, separate the power and signal cables, take the input and output side of the signal cable and twist them together to balance out the stray capacitance, let power cables and signal cables cross at 90°, etc.

19-5


Unshielded cable Noise

Cstray

Power supply

System

Cable Ground

3. Common-mode noise is coupled via the power cable to other power systems then the cable of such a power system is coupled to the transmission system, as shown in Figure 3.

Unshielded cable Noise Cstray Send

Receive Load

Ground 4. The common-mode noise of an unshielded power cable is transmitted to the ground via the stray capacitance. Since both shielded wire and unshielded wire are connected to a common ground, other systems can be interfered with by the common-mode noise that is transmitted from the ground back to the system via the shield. See Figure 4.

Noise

Unshielded cable

Send

Cstray

Receive Load

Cstray

Ground

5. When excessive pulse modulated currents pass through an un-grounded AC drive cable, it acts as an antenna and creates radiated interference. 19-6


19-3 Solution to EMI: Grounding The leakage current of an electronic equipment is conducted to ground via the grounding wire and the ground electrode. According to Ohm's law, potential differences may arise when the electrode’s ground and the ground’s ground resistance are different.

According to Ohm's law, the earth resistance for electrode and the ground are different, in this case potential differences may arise.

19-3.1 Protective Grounding & Functional Grounding Please carefully read the following instruction if two types of grounding are applied at the same time. Protective grounding is applied outside buildings and must have low resistance. On the other hand, functional grounding can be applied inside buildings and must have low impedance. The goal of EMC is to avoid any interference effects. Grounding for EMC can be distinguished by frequency. For frequencies lower than 10kHz, a single-point ground system should be used and for frequencies higher than 10 kHz, a multiple point ground system should be used. •

• •

•

Single Point Grounding: all signal grounds of all IT equipment are connected in series to form a single reference point. This point can be grounded directly to earth; to the designated grounding point or to the safety point that is already grounded. Multiple Point Grounding: all signals of all IT equipment are grounded independently. Hybrid Grounding: this type of grounding behaves differently for low and high frequencies. When two pieces of IT equipment (A and B) are connected via a shielded cable, one end is connected directly to ground while the other end is connected to ground via a capacitor. This type of grounding system fulfils the criteria for high and low frequency grounding. Floating grounding: the signals of all IT equipment are isolated from each other and are not grounded.

DC current flows evenly throughout the conductor section. But AC current flows towards the conductor’s surface as frequency increases; this is called the “skin effect”. It causes the effective crosssection area to be reduced with increasing frequency. Therefore it is suggested to increase the effective ground cross-section area for high frequencies by replacing pigtail grounding by braided conductors or strip conductors. Refer to the following figure. Pigtail

HF

1 LF-HF

2

1 Braided strapl

3

This is why a thick short ground wire must be implemented for connecting to the common grounding path or the ground busbar. Especially when a controller (e.g. PLC) is connected to an AC motor drive, it must be grounded by a short and thick conducting wire. It is suggested to use a flat braided conductor (ex: metal mesh) with a lower impedance at high frequencies.

19-7

Chapter 19 EMC Standard Installation Guide If the grounding wire is too long, its inductance may interfere structure of the building or the control cabinet and form mutual inductance and stray capacitance. As shown in the following figure, a long grounding wire could become a vertical antenna and turn into a source of noise. Painted sheet metal

EP gn o L

HF

19-3.2 Ground Loops A ground loop occurs when the pieces of equipment are connected to more than one grounding path. In this case, the ground current may return to the grounding electrode via more than one path. There are three methods to prevent ground loops 1. Use a common power circuit 2. Single point grounding 3. Isolate signals, e.g. by photocouplers Good

Cable

Cable

Equipment

Equipment

Equipment

A

B

A

Accompanying cable

Equipment

B Very good Cable

Earth plane

Earth plane

In order to avoid “Common Mode Noise”, please use parallel wires or twisted pair wiring. Follow this rule and also avoid long wires, it is suggested to place the two wires as close to each other as possible.

19-3.3 Earthing Systems The international standard IEC60364 distinguishes three different earthing system categories, using the two-letter codes TN, TT, IT. •

•

•

The first letter indicates the type of earthing for the power supply equipment (generator or transformer). T: One or more points of the power supply equipment are connected directly to the same earthing point. I: Either no point is connected to earth (isolated) or it is connected to earth via a high impedance. The second letter indicates the connection between earth and the power supply equipment. T: Connected directly to earth (This earthing point is separate from other earthing points in the power supply system.) N: Connected to earth via the conductor that is provided by the power supply system The third and forth letter indicate the location of the earth conductor. S: Neutral and earth conductors are separate C: Neutral and earth are combined into a single conductor 19-8


TN system TN: The neutral point of the low voltage transformer or generator is earthed, usually the star point in a three-phase system. The body of the electrical device is connected to earth via this earth connection at the transformer. protective earth (PE): The conductor that connects the exposed metallic parts of the consumer. neutral (N): The conductor that connects to the start point in a 3-phase system or that carries the return current in a single phase system.

L1 L2 L3 N PE

TN-S system TN-S: PE and N are two separate conductors that are combined together only near the power source (transformer or generator). It is the same as a three-phase 5-wire system.

19-9


TN-C system TN-C: PE and N are two separate conductors in an electrical installation similar to a three-phase 5wire system, but near the power side, PE and N are combined into a PEN conductor similar to a three-phase 4 wire system. Generator or transformer

L1 L2 L3 PEN

Earth

Consumer

TN-C-S system TN-C-S: A combined earth and neutral system (PEN conductor) is used in certain systems but eventually split up into two separate conductors PE and N. A typical application of combined PEN conductor is from the substation to the building but within the building PEN is separated into the PE and N conductors. Direct connection of PE and N conductors to many earthing points at different locations in the field will reduce the risk of broken neutrals. Therefore this application is also known as protective multiple earthing (PME) in the UK or as multiple earthed neutral (MEN )in Australia

Generator or transformer

L1 L2 L3 N PE

Earth

Consumer

19-10


TT system TT: The neutral point (N) of the low voltage transformer and the equipment frames (PE) are connected to a separate earthing point. The Neutral (N) of the transformer and electrical equipment are connected.

IT system IT: The neutral point of the transformer and electrical equipment are not earthed, only the equipment frames PE are earthed. In the IT network, the power distribution system Neutral is either not connected to earth or is earthed via a high impedance. In such a system, an insulated monitoring device is used for impedance monitoring. A built-in filter should be disconnected by the RFI-jumper and an external filter should not be installed

when the AC motor drive or the AC servo motor drive is connected to an IT system.

19-11


Criteria for earthing system and EMC

Safety of Personnel

Safety of property

Availability of energy

EMC behavior

TN-S

TN-C

TT

IT

Good

Good

Good

Good

Continuity of the PE conductor must be ensured throughout the installation

Continuity of the PE conductor must be ensured throughout the installation

Poor

Poor

High fault current (around 1kA)

High fault current (around 1kA)

RCD is mandatory

Good Medium fault current (< a few dozen amperes)

Continuity of the PE conductor must be ensured throughout the installation Good Low current at the first fault (< a few dozen mA) but high current at the second fault

Good

Good

Good

Excellent

Excellent

Poor (prohibited)

Good

Poor (should be avoided)

Few equipotential

- Neutral and PE are the same

Problems: - Need to handle the high leaking currents problem of the device

- Circulation of disturbance currents in exposed conductive parts (high magnetic-field radiation)

- High fault current (transient disturbances)

- High fault currents (transient disturbances)

- Over-voltage risk - Equipotential Problems: - Need to handle the high leaking currents problem of the device - RCD (Residualcurrent device)

- Over-voltage risk - Common– mode filters and surge arrestors must handle the phase to phase voltage. - RCDs subject to nuisance tripping when common-mode capacitors are present - Equivalent to TN system for second fault

19-12


19-4 Solution to EMI: Shielding 19-4.1 What is Shielding? Electrostatic shielding is used to isolate equipment so that it will not create electromagnetic field interference or be influenced by an external electromagnetic field. A conductive material is used for electrostatic shielding to achieve this isolation. A Faraday cage can be made from a mesh of metal or a conductive material. One characteristic of metal is that it is highly conductive and not electrostatic,, which offers shielding and prevents interference by external electrical fields. Metal with its high conductivity protects the internal devices from high voltages—no voltage will enter the cage even when the cage is experiencing a high current. In addition, electromagnetic fields can also pass through the Faraday cage without causing any disturbance. Electromagnetic shielding is applied to some electrical devices and measurement equipment for the purpose of blocking interference. Examples of shielding include: • earth high-voltage indoor equipment using a metal frame or a high-density metal mesh • shielding a power transformer is achieved by wrapping a metal sheet between the primary and secondary windings or by adding an enamel wire to the winding wire which is then earthed. • a shielding coating, which is made of metal mesh or conductive fibres to provide effective protection for the workers who work in a high-voltage environment. In the picture below, the radio appears to be not fully covered by metal but if the conductivity of the metal is high, radio waves are completely blocked and the radio will not receive any signal.

Mobile phone connections are also established through the transmission of radio waves. This is why the mobile phone reception is often cut off when we walk into an elevator. The metal walls of the elevator create the same shielding effect just as if we had entered a metal cage. Another example is a microwave oven. The microwave door may seem transparent in visible light, but the density of the metal mesh in the microwave door blocks the electromagnetic waves. A higher density of the metal mesh offers better shielding.

19-13


Electromagnetic fields

Wall of shielded enclosure

Greater leakage form bigger apertures G=gap (aperture dimension) d=depth (distance that fields have to travel)

Shielding effectiveness (SE)in dB 80 d=18" g=6" 60 d=12" g=6" 40 20 0 0.05

0.2

0.5

d (depth)

"Waveguide below cut-off" doesn't leak very much (does not have to be a tube)

d=6" g=2" d=4" g=2"

d=6" g=6" 0.1

g (gap)

1

d=2" g=2"

GHz 2

5

F